Romansy 13 pp 169-178 | Cite as

Motion Coordination and Hybrid Position/Force Control of a Mobile Micromanipulator Actuated by Direct-Drive Vibromechanisms

  • Antoine Ferreira
  • Patrice Minotti
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


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.


Shape Memory Alloy Mobile Platform Nonholonomic Constraint Platform Motion Ultrasonic Motor 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Antoine Ferreira
    • 1
  • Patrice Minotti
    • 2
  1. 1.Laboratoire de Vision et RobotiqueEcole Normale Supérieure d’Ingénieurs de BourgesFrance
  2. 2.Laboratoire de Mécanique AppliquéeUniversity of Franche-ComtéFrance

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