Motion Coordination and Hybrid Position/Force Control of a Mobile Micromanipulator Actuated by Direct-Drive Vibromechanisms
This article is concerned with motion control problem of a new miniature one-armed mobile micromanipulator actuated by multidegree of freedom ultrasonic actuators using active driving friction mechanism. The main control disturbances are due to the nonlinear and nonholonomic constraints governing the motion of the mobile platform in a small workplace and, also, to the fact that the dynamics of the micromanipulator and the mobile platform are highly coupled. It is proposed in this article to tackle the robustness issue by designing and implementing new schemes for motion coordination and hybrid position/force control.
KeywordsShape Memory Alloy Mobile Platform Nonholonomic Constraint Platform Motion Ultrasonic Motor
Unable to display preview. Download preview PDF.
- Baptiste, P. and Taillard, J-P. (1994). Command method of a trunk-like microrobot. In: Proccedings of the 2n d Japan-France Cong. On Mechatronics, Takamatsu, Japan, 723 – 726.Google Scholar
- Ferreira, A. (1998). Design and control of a mobile micro manipulator driven by ultrasonic motors with multi-degrees of freedom. Journal of Advanced Robotics, Vol.12, N°2, 115 – 133.Google Scholar
- Fukuda, T. et al. (1991). Design and dextrous control of micromanipulator with 6 d.o.f. In Proceedings of the IEEE Int. Conf. Robotics and Autom., Sacramento, CA, 1628 – 1633.Google Scholar
- Minotti, P. and Ferreira A. (1998). Les Micromachines. Hermes Editor, Paris, France.Google Scholar
- Munassypov, R. et al. (1996). Development and control of piezoelectric actuators for a mobile micromanipulation system. In: Proceedings of the 5 m Int. Conf. On New Actuators, Bremen, Germany, 213 – 216.Google Scholar