Modelling and robust position/force control of a piezoelectric microgripper

Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Volumn , Issue , 2007, Pages 39-44

  Rakotondrabe, Micky ^a   Clévy, Cédric ^a   Lutz, Philippe ^a  

^a UNIVERSITÉ DE FRANCHE COMTÉ   (France)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROL; MATHEMATICAL MODELS; PIEZOELECTRIC MATERIALS; POSITION CONTROL; ROBUST CONTROL;

MICROOBJECTS; PIEZOCANTILEVERS; PIEZOELECTRIC MICROGRIPPERS;

GRIPPERS;

EID: 44449159521     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/COASE.2007.4341687     Document Type: Conference Paper

References (17)

1. Y. Haddab, 'Design and development of a micromanipulation system with force/position control', PhD Thesis (in french), Franche-Comté University, FRANCE, 2000.
2. P. Ge and M. Jouaneh, 'Tracking control of a piezoceramic actuator', IEEE Transactions on Control System Technology, 4, pp.209-216, 1996.
3. B. M. Chen, T. H. Lee, C. C. Hang, Yi Guo and S. Weerasooriya, 'An Hinfini almost disturbance decoupling robust controller design for a piezoelectric bimorph actuator with hysteresis', IEEE Transactions on control systems technology, vol.7, No 2, Mar 1999.
4. M. S. Tsai and J. S. Chen, 'Robust tracking control of a piezoactuator using a new approximate hysteresis model', Transactions of the ASME Journal of Dynamic Systems, Measurement and Control, 125, pp.96-102, 2003.
5. M. Rakotondrabe, Y. Haddab and P. Lutz, 'Plurilinear modeling and discrete μ-synthesis control of a hysteretic and creeped unimorph piezoelectric cantilever', IEEE International Conference on Control, Automation, Robotics and Vision, Singapore December, 2006.
6. M. C. Carrozza, A. Eisinberg, A. Menciassi, D. Campolo, S. M. and P. Dario, 'Towards a force-controlled microgripper for assembling biomedical microdevices', J. Micromech. Microeng. 10, 271-276. Printed in the UK, 2000.
7. T. Tanikawa and M. Kawai and N. Koyachi and T. Arai and T. Ide and S. Kaneko and R. Ohta and T. Hirose, 'Force control system for autonomous micro manipulation', IEEE International Conference on Robotics and Automation, pp.610-615, Seoul, Korea, 2001.
8. C. Liguo and S. Lining and R. Weibinn and B. Xinqian, 'Hybrid control of vision and force for MEMS assembly system', ROBIO, 2004.
9. M. Gauthier, S. Regnier, P. Rougeot, N. Chaillet, 'Forces analysis for micromanipulation in dry and liquid medi', Journal of Micromechatronics, vol. 3, No 3-4, pp. 389-413, September 2006.
10. J. G. Smits and W. S. Choi, 'The constituent equations of piezoelectric heterogeneous bimorphs', IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol.38, No38, May 1991.
11. Y. Haddab, N. Chaillet, A. Bourjault, 'A microgripper using smart piezoelectric actuators', IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'2000, octobernovember 2000, Takamatsu, Japon.
12. www.piezoceramic.com
13. T. S. Low and W. Guo, 'Modeling of a three-layer piezoelectric bimorph beam with hysteresis' Journal of MicroElectroMechanical Systems, IEEE, pp.230-237, 4(4), December, 1995.
14. G. J. Balas, J. C. Doyle, K. Glover, A. Packard and R. Smith, 'ţ-analysis and synthesis toolbox', The Mathworks User's Guide-3, 2001.
15. ∞ -norm bound and relations to risk sensivity', Systems & Control Letters, vol.11, pp.167-172, 1988.
16. ∞ control problems', IEEE Transactions on Automatic Control, AC 34 No 8, pp.831-846, 1989.
17. B. C. Moore, 'Principal component analysis in linear systems: controllability, observability and model reduction', IEEE Transactions on Automatic Control, AC-26(1), 1981.