Infinite dimension system approach for hybrid force/position control in micromanipulation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 2912-2917

  Shen, Yantao ^a   Xi, Ning ^a   Wejinya, U C ^a   Li, Wen J ^b   Xiao, Jizhong ^c  

^a Michigan State University   (United States)

^b CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

^c City University of New York   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACCIDENT PREVENTION; CANTILEVER BEAMS; CONTACT SENSORS; FEEDBACK CONTROL; FORCE CONTROL; MATHEMATICAL MODELS; MICROSENSORS; PARAMETER ESTIMATION; PIEZOELECTRICITY; POSITION CONTROL; RISK ASSESSMENT;

HYBRID CONTROL; INFINITE DIMENSION SYSTEMS; MICRODEVICES; MICROMANIPULATION TECHNOLOGY;

MICROMANIPULATORS;

EID: 3042578630     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. J. R. Reid, V. M. Bright, J. H. Comtois, Automated Assembly of Flip-up Micromirrors, TRANSDUCERS '97 Chicago., vol. 1. pp. 347-350, 1997.
2. E. E. Hui, R. T. Howe, and M. S. Rodgers, Single-Step Assembly of Complex 3-D Microstructures, IEEE MEMS 2000, pp. 602-607.
3. S. K. Koelemijer Chollet, L. Benmayor, J.-M. Uehlinger and J. Jacot, Cost Effective Micro-System Assembly Automation, Proceedings of Emerging Technologies and Factory Automation, Vol. 1, pp. 359-366, 1999.
4. S. Fatikow, J. Seyfried, S. Fahlbusch, A. Buerkle, and F. Schmoeckel, A Flexible Microrobot-Based Microassembly Station, Journal of Intelligent and Robotics Systems, Vol. 27, pp. 135-169, 2000.
5. Y. Zhou, B. J. Nelson and B. Vikramaditya, Fusing Force and Vision Feedback for Micromanpulation, ICRA1998, pp. 1220-1225, 1998.
6. T. Tanikawa, M. Kawai, N. Koyachi, T. Arai, T. Ide, S. Kaneko, R. Ohta and T. Hirose, Force Control System for Autonomous Micro Manipulation, ICRA2001, pp. 610-615, 2001.
7. C. K. M. Fung, I. Elhajj, W. J. Li, and N. Xi, A 2-D PVDF Force Sensing System for Micro-manipulation and Micro-assembly, ICRA2002, pp. 1489-1494, 2002.
8. Y. T. Shen, N. Xi, and Wen J. Li, Force Guided Assembly of Micro Mirrors, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2149-2154, 2003.
9. T. J. Tarn, Y. Y. Wu, N. Xi, and A. Isidori, Force Regulation and Contact Transition Control, IEEE Control Systems, pp. 32-40, February 1996.
10. F. Matsuno and S. Kasai, Modeling and Robust Force Control of Constrained One-Link Flexible Arms, Journal of Robotic Systems, Vol. 15, No. 8, pp. 447-464, 1998.
11. F. Ching, D. Wang An Infinite-dimensional Analysis of a PD-Controlled Single Flexible Link in Collision, Proc. of IEEE International Conference on Robotics and Automation, pp. 419-426, 1999.
12. B. Siciliano and L. Villani, Parallel Force and Position Control of Flexible Manipulators, IEE Proceedings - Control Theory Application, Vol. 147, no. 6, pp. 605-612, 2000.
13. An American National Standard: IEEE Standard on Piezoelectricity, ANS/IEEE Standard 176-1987, 1987.
14. L. Meirovitch, Elements of Vibration Analysis, New York: McGraw-Hill, ch. 5, pp. 218, 1975.
15. S. S. Ge, T. H. Lee, and G. Zhu Asymptotically Stable End-Point Regulation of a Flexible SCARA/Cartesian Robot, IEEE/ASME Transactions on Mechatronics, Vol. 3, No. 2, 1998.