HE Hong-lin, ZHAO Chun-sheng. Design and implementation of a 3-DOF robot powered by the ultrasonic motors[J]. Journal of nanchang hangkong university(Natural science edition), 2008, 22(1): 72-78.
Citation: HE Hong-lin, ZHAO Chun-sheng. Design and implementation of a 3-DOF robot powered by the ultrasonic motors[J]. Journal of nanchang hangkong university(Natural science edition), 2008, 22(1): 72-78.
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Design and implementation of a 3-DOF robot powered by the ultrasonic motors

    Abstract
  • Aimed to investigate the performance of such a robot,a 3-DOF robot powered by USMs has been designed and made.The hardware system of hierarchy for the 3-DOF robot has been established.The PID control law based on simultaneous position and speed feedback has been employed in the control system.The control software has been planned and programmed.It is shown by experiments that the 3-DOF robots can implement CP control with high precision,and its joints can runs smoothly.
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