Control Approach for Structured Piezo-Actuated Micro/Nano Manipulators
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 wordspiezo-structured ceramics micro/nano manipulator control approach non-linear mechanic structure telemanipulation control impedance scaling
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