Optimized friction drive controller for a Multi-DOF ultrasonic nanopositioner

被引：0

作者：

Ferreira, A ^{[1
]}

Fontaine, JG ^{[1
]}

机构：

[1] Univ Orleans, ENSI, Lab Vis & Robot, F-18000 Bourges, France

来源：

PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 | 2003年

关键词：

nanopositioner; SWUM; friction drive; force control;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new generation of compliant multidegree of freedom (DOF) piezoelectric nanopositioner for positioning, transport, alignment of microobjects under the field of view of a microscope. It is based on the cooperation of arrayed direct-drive standing wave ultrasonic actuators (microSWUMs). An optimized friction drive multidimensional controller is proposed based on: (i) an electromagnetic field-based preload controller ensuring optimal preload, (ii) an open-loop PWM controller for self-locking and driving force control and (iii) a resonant frequency compensation.

引用

页码：1315 / 1320

页数：6

共 10 条

[1]

EDWARD MJ, 1994, THESIS G WASHINGTON

[2] High-performance load-adaptive speed control for ultrasonic motors [J].

Ferreira, A ;

Minotti, P .

CONTROL ENGINEERING PRACTICE, 1998, 6 (01) :1-13

[3]

Ferreira A, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P3205

[4]

FERREIRA A, 2000, J MICROMECHATRONICS, V1, P49

[5]

KANEKO M, 1995, IEEE INT CONF ROBOT, P2928, DOI 10.1109/ROBOT.1995.525699

[6] FINITE-ELEMENT ANALYSIS OF THE ROTOR STATOR CONTACT IN A RING-TYPE ULTRASONIC MOTOR [J].

MAENO, T ;

TSUKIMOTO, T ;

MIYAKE, A .

IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL, 1992, 39 (06) :668-674

[7] A developmental atlas of rat mammary gland histology [J].

Masso-Welch, PA ;

Darcy, KM ;

Stangle-Castor, NC ;

Ip, MM .

JOURNAL OF MAMMARY GLAND BIOLOGY AND NEOPLASIA, 2000, 5 (02) :165-185

[8]

SUK K, 2002, IEEE ASME T MECH MAR, V7, P35

[9]

Takemura K, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P2187, DOI 10.1109/IRDS.2002.1041592

[10] Developing a linear piezomotor with nanometer resolution and high stiffness [J].

Zhang, B ;

Zhu, ZQ .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1997, 2 (01) :22-29

← 1 →