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Control Approach for Structured Piezo-Actuated Micro/Nano Manipulators

  • Kostadin Kostadinov
  • Roland Kasper
  • Muhammed Al-Wahab
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)

Abstract

This paper considers a new method for integration of piezo-electric actuators and motion amplification elements (MAE) into one component, subjected here to be telecontrolled as micro/nano manipulator. In this case development of a control approach for such micro and nano manipulators is the object of this paper. The used piezo-ceramic disc is segmented according the desired task space. It is characterized with non-linear behavior while the segments are controlled either separately or in combination. The main problems concerning the integrated structure-control design optimization approach is defined and considered in order to realize a telemanipulation control of the desired micro/nano operations. An appropriate hybrid telemanipulation approach is developed to improve the efficiency of any micro- and nano manipulation and operation for which the operator has neither experience nor knowledge. It combines the advantages of the known two teleoperated control approaches — direct and task-oriented teleoperation.

Key words

piezo-structured ceramics micro/nano manipulator control approach non-linear mechanic structure telemanipulation control impedance scaling 

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Copyright information

© Springer 2005

Authors and Affiliations

  • Kostadin Kostadinov
    • 1
  • Roland Kasper
    • 2
  • Muhammed Al-Wahab
    • 1
  1. 1.Institute of MechanicsBulgarian Academy of SciencesSofiaBulgaria
  2. 2.Institute of Mechatronics and DrivesOtto-von-Guericke UniversityMagdeburgGermany

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