Force-Sensorless Bilateral Control using Piezoelectric Cantilever with Nonlinearity Compensation

被引：0
|
作者：
Matsumi, Yoshitomo [1 ]
Yu, Koyo [1 ]
Ohnishi, Kouhei [1 ]
机构：
[1] Keio Univ, Dept Syst Design Engn, Kouho Ku, Yokohama, Kanagawa 223, Japan
来源：
2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2014年
关键词：
bilateral control; haptics; microelectromechanical systems; micromanipulators; nonlinearity; observers; piezoelectric actuators; sensorless control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the research about force sensorless bilateral control using piezoelectric cantilever, nonlinearities of piezoelectric constant and creep phenomenon has not been considered in reaction force observer (RFOB). Therefore, there are room for improvement of the performance of force estimation. In this paper, piezoelectric constant and creep phenomenon are modeled based on experimental results and built into RFOB to improve the performance of reaction force estimation. The validity of proposed method is confirmed through experiments of micromacro bilateral control between linear motor and piezoelectric cantilever.
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页数：6
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