Real-Time Torque Sensing of Piezoelectric Ultrasonic Motors for Space Robotics Applications / 129-131
James B. Dabney, Thomas L. Harman
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Abstract--Piezoelectric ultrasonic motors (PUMs) offer dramatic improvements in a variety of space-based robotics applications, if the problem of real-time torque control can be solved. This research enhanced the UHCL PUM laboratory apparatus to include torque sensing, display, and recording. The apparatus was calibrated using torque computations Measured torque compared well with the computed torque.