초음파 모터를 사용한 DD 매니퓰레이터의 컴플라이언스 제어

In this paper, we propose a method for compliance control of a SCARA type 2-freedom direct drive(DD) manipulator. Each Joint of the manipulator is driven by a travelling ultrasonic motor(USM). The travelling USM has good some characteristics over conventional servo motors such as compact size, light weight, s1lent motion, high torque and high speed response. By controlling the elasticity and viscosity of robot joints, a robot can work in compliance with external environment. we control the elastic coefficient and the viscous coefficient of joints by adjusting the phase difference of the motor power. And we contemplate transient response of USM with adjusting the elastic coefficient and the viscous coefficient. To use the result, we can control the robot to reach its goal with compliance motion. It remams for further research to develop the impedance control of USM.