A new method of force estimation in piezoelectric cantilever-based microgripper

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2012, Pages 574-579

  Xu, Qingsong ^a  

^a UNIVERSITY OF MACAU   (Macao)

Author keywords

[No Author keywords available]

Indexed keywords

DISPLACEMENT SENSOR; EXPERIMENTAL STUDIES; FORCE DETECTION; FORCE ESTIMATION; FORCE SENSOR; HYSTERESIS BEHAVIOR; HYSTERESIS EFFECT; HYSTERESIS MODELS; MICRO-OBJECTS; MICROGRIPPER; PERTURBATION ESTIMATION; PIEZOELECTRIC CANTILEVERS; PROOF OF CONCEPT;

GRIPPERS; HYSTERESIS; INTELLIGENT MECHATRONICS; NANOCANTILEVERS; PIEZOELECTRICITY; SENSORS;

ESTIMATION;

EID: 84866903661     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2012.6265878     Document Type: Conference Paper

References (17)

1. S. Chonan, Z. W. Jiang, and M. Koseki, "Soft-handling gripper driven by piezoceramic bimorph strips," Smart Mater. Struct., vol. 5, pp. 407-414, 1996.
2. Q. Xu, "Mechanism design and analysis of a novel 2-DOF compliant modular microgripper," in Proc. of 7th IEEE Conf. on Industrial Electronics and Applications, Singapore, 2012.
3. F. Beyeler, A. Neild, S. Oberti, D. J. Bell, Y. Sun, J. Dual, and B. J. Nelson, "Monolithically fabricated microgripper with integrated force sensor for manipulating microobjects and biological cells aligned in an ultrasonic field," J. Microelectromech. Syst., vol. 16, no. 1, pp. 7-15, 2007.
4. A. Menciassi, A. Eisinberg, M. C. Carrozza, and P. Dario, "Force sensing microinstrument for measuring tissue properties and pulse in microsurgery," IEEE/ASME Trans. Mechatron., vol. 8, no. 1, pp. 10-17, 2003.
5. M. A. Greminger and B. J. Nelson, "Vision-based force measurement," IEEE Trans. Pattern Anal. Mach. Intell., vol. 26, no. 3, pp. 290-297, 2004.
6. D. J. Cappelleri, G. Piazza, and V. Kumar, "A two dimensional visionbased force sensor for microrobotic applications," Sens. Actuator A-Phys., vol. 171, no. 2, pp. 340-351, 2011.
7. Q. Xu, "New flexure parallel-kinematic micropositioning system with large workspace," IEEE Trans. Robot., vol. 28, no. 2, pp. 478-491, 2012.
8. D. D. H. Wang, Q. Yang, and H. H. M. Dong, "A monolithic compliant piezoelectric-driven microgripper: Design, modeling, and testing," IEEE/ASEM Trans. Mechatron., 2011, in press.
9. I. A. Ivan, M. Rakotondrabe, P. Lutz, and N. Chaillet, "Quasistatic displacement self-sensing method for cantilevered piezoelectric actuators," Rev. Sci. Instrum., vol. 80, no. 6, p. 065102, 2009.
10. Y. Haddab, N. Chaillet, and A. Bourjault, "A microgripper using smart piezoelectric actuators," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2000, pp. 659-664.
11. M. Rakotondrabe, Y. Haddab, and P. Lutz, "Nonlinear modeling and estimation of force in a piezoelectric cantilever," in Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2007, pp. 1-6.
12. P.-K. Wong, Q. Xu, C.-M. Vong, and H.-C. Wong, "Rate-dependent hysteresis modeling and control of a piezostage using online support vector machine and relevance vector machine," IEEE Trans. Ind. Electron., vol. 59, no. 4, pp. 988-2001, 2012.
13. Q. Xu and P.-K. Wong, "Hysteresis modeling and compensation of a piezostage using least squares support vector machines," Mechatronics, vol. 21, no. 7, pp. 1239-1251, 2011.
14. H. Elmali and N. Olgac, "Implementation of sliding mode control with perturbation estimation (SMCPE)," IEEE Trans. Control Syst. Technol., vol. 4, no. 1, pp. 79-85, 1996.
15. Y. Li and Q. Xu, "Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a piezodriven micromanipulator," IEEE Trans. Contr. Syst. Technol., vol. 18, no. 4, pp. 798-810, 2010.
16. R. V. Iyer, X. Tan, and P. S. Krishnaprasad, "Approximate inversion of the Preisach hysteresis operator with application to control of smart actuators," IEEE Trans. Automat. Contr., vol. 50, no. 6, pp. 798-810, 2005.
17. Y. Li and Q. Xu, "A totally decoupled piezo-driven XYZ flexure parallel micropositioning stage for micro/nanomanipulation," IEEE Trans. Autom. Sci. Eng. , vol. 8, no. 2, pp. 265-279, 2011.