| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and method of controlling the attitude of a sphere which is rotary driven by means of a piezoelectric element over a wide movable range. <P>SOLUTION: In a device and method of controlling the attitude of a sphere 100 which is rotationally driven, three sets of actuator unit au1, au2 and au3 including three piezoelectric elements n1, n2 and n3 are provided, and each actuator unit au1, au2, au3 is driven by applying a drive signal to each piezoelectric element n1, n2, n3 thus controlling the attitude of the sphere 100. The rotating shaft for rotating the sphere 100 is determined from the current attitude and the target attitude of the sphere 100, and a phase which is added to the drive signal is determined with reference to a phase difference table 115A on which the combination of phases is described previously. Drive signals of different phases are applied to the piezoelectric elements n1, n2 and n3, and the actuator units au1, au2 and au3 are driven to control the sphere 100 to the target attitude. <P>COPYRIGHT: (C)2010,JPO&INPIT |
