Control method for piezoelectric motor and robot
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United States of America Patent
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Sep 5, 2023
Grant Date -
Aug 11, 2022
app pub date -
Feb 7, 2022
filing date -
Feb 9, 2021
priority date (Note) -
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Abstract
A piezoelectric motor includes a driven member rotating around a rotation axis, and a plurality of piezoelectric vibrators rotating the driven member by transmitting drive forces to the driven member. The plurality of piezoelectric vibrators includes a first piezoelectric vibrator and a second piezoelectric vibrator at a larger distance from the rotation axis than the first piezoelectric vibrator. The control method for the driven member includes, for acceleration of the driven member, rotating the driven member by the drive force of the second piezoelectric vibrator when a rotation velocity of the driven member is lower than a first velocity, and rotating the driven member by the drive force of the first piezoelectric vibrator when the rotation velocity of the driven member is equal to or higher than the first velocity.
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