ROBOT DEVICE AND ITS CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To suitably adjust the phase relationship between vibrators, when controlling motion by arranging a plurality of physical vibrators. SOLUTION: A 4-element type neural vibrator is used as a reference vibrator for using a pulling-in characteristic for controlling periodic motion of a movable part. The 4-element type vibrator has a structure for outputting a signal having a phase difference by 90 degrees. Thus, the desired phase relationship can be adjusted without using a sensor feedback in a situation of requiring output of the vibrator different in 90 degrees, and a strong control system can be constructed. COPYRIGHT: (C)2007,JPO&INPIT