Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor | Giraud, Frédéric
/5

0 avis

Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor

Archive ouverte : Article de revue

Giraud, Frédéric | Sandulescu, Paul | Amberg, Michel | Lemaire-Semail, Betty | Ionescu, Fiorin

Edité par HAL CCSD ; IEEE

International audience. This paper deals with the control and experimentation of a one-degreeof- freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a forcefeedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.

Consulter en ligne

Suggestions

Du même auteur

Preliminary design of a multi-touch ultrasonic tactile stimulator | Ghenna, Sofiane

Preliminary design of a multi-touch ultrasonic tactile stimulator

Archive ouverte: Communication dans un congrès

Ghenna, Sofiane | 2015-06-22

International audience. — This paper presents a method to control ultrasonic waves on a beam, allowing to obtain a Multi-touch ultrasonic tactile stimulation in two points, to give the sensation to two fingers, from...

High fidelity closed loop controlled friction in SMARTTAC tactile stimulator | Ben Messaoud, Wael

High fidelity closed loop controlled friction in SMARTTAC tactile stimulato...

Archive ouverte: Communication dans un congrès

Ben Messaoud, Wael | 2015-09-08

International audience. The present study investigates the implementation of a closed loop control in a new smart tactile stimulator called “SMARTTAC”. This haptic device is able to stimulate the fingertip in order ...

Vector control method applied to a traveling wave in a finite beam | Giraud, Frédéric

Vector control method applied to a traveling wave in a finite beam

Archive ouverte: Article de revue

Giraud, Frédéric | 2014-01-02

International audience. This paper presents the closed-loop control of exciters to produce a traveling wave in a finite beam. This control is based on a dynamical modeling of the system established in a rotating ref...

Du même sujet

Design of a Haptic Magnifier using an Ultrasonic Motor | Giraud, Frédéric

Design of a Haptic Magnifier using an Ultrasonic Motor

Archive ouverte: Communication dans un congrès

Giraud, Frédéric | 2014-06-24

International audience. The paper presents a serial architecture of an actuated manipulator which uses an ultrasonic motor. The serial architecture allows to modify the kinetic relationship between user's input and ...

Causal modeling destined to the control of a planar piezoelectric actuator for haptic device.. Modélisation Causale en vue de la Commande d'un translateur piézoélectrique plan pour une application haptique | Pigache, François

Causal modeling destined to the control of a planar piezoelectric actuator ...

Archive ouverte: Thèse

Pigache, François | 2005-03-25

Currently, haptic devices have been proposed to stimulate the human sense of touch in space or on plane environment. So, a broad whole of devices relies on several actuators with one degree of freedom whose are coupled by various ...

Piezoelectric actuator for a force-feedback application: preliminary evaluation | M'Boungui, Gaston

Piezoelectric actuator for a force-feedback application: preliminary evalua...

Archive ouverte: Communication dans un congrès

M'Boungui, Gaston | 2009-03-18

International audience. As a solution to the lack of compactness and simplicity often encountered in haptic interfaces, we propose a device based on friction coefficient control principle. This device includes polar...

Travelling Ultrasonic Wave Enhances Keyclick Sensation | Gueorguiev, David

Travelling Ultrasonic Wave Enhances Keyclick Sensation

Archive ouverte: Communication dans un congrès

Gueorguiev, David | 2018-06-13

International audience. A realistic keyclick sensation is a serious challenge for haptic feedback since vibrotactile rendering faces the limitation of the absence of contact force as experienced on physical buttons....

Joint TSO-DSO voltage and reactive power control at the HV/MV systems interface and development of real-time volt var control of distribution networks.. Coordination des moyens de réglage de la tension à l'interface réseau de distribution et de transport; et évolution du réglage temps réel de la tension dans les réseaux de distribution. | Morin, Juliette

Joint TSO-DSO voltage and reactive power control at the HV/MV systems inter...

Archive ouverte: Thèse

Morin, Juliette | 2016-11-17

Voltage and reactive power control are of paramount importance to ensure safe and reliable operation of the power system. Distribution grids are undergoing major changes, namely the insertion of distributed generation and the repl...

The Perception of Ultrasonic Square Reductions of Friction with Variable Sharpness and Duration | Gueorguiev, David

The Perception of Ultrasonic Square Reductions of Friction with Variable Sh...

Archive ouverte: Article de revue

Gueorguiev, David | 2019

International audience. The human perception of square ultrasonic modulation of the finger-surface friction was investigated during active tactile exploration by using short frictional cues of varying duration and s...

Chargement des enrichissements...