Modeling and Robust Control Strategy for a Control-Optimized Piezoelectric Microgripper

Grossard, Mathieu; Boukallel, Mehdi; Chaillet, Nicolas; Rotinat-Libersa, Christine

doi:10.1109/tmech.2010.2050146

Cited by 62 publications

(24 citation statements)

References 26 publications

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“…Moreover, the noise has to be considered differently according to the dimensions of the micromanipulation system. Taking into account physical origins of noises is usually not addressed in conventional studies dealing with noise and vibration rejection in microrobotics [7] [20] [23] [24]. A better understanding about this will allow a more efficient controller design by an accurate modeling of the noisy process leading to the improvement of achievable closed loop performances.…”

Section: Introductionmentioning

confidence: 99%

Noise characterization in millimeter sized micromanipulation systems

et al. 2011

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Abstract:Efficient and dexterous manipulation of very small (micrometer and millimeter sized) objects require the use of high precision micromanipulation systems. The accuracy of the positioning is nevertheless limited by the noise due to vibrations of the end effectors making it difficult to achieve precise micrometer and nanometer displacements to grip small objects. The purpose of this paper is to analyze the sources of noise and to take it into account in dynamic models of micromanipulation systems. Environmental noise is studied considering the following sources of noise: ground motion and acoustic noises. Each source of noise is characterized in different environmental conditions and a separate description of their effects is investigated on micromanipulation systems using millimeter sized cantilevers as end effectors. Then, using the finite difference method (FDM), a dynamic model taking into account studied noises is used. Ground motion is described as a disturbance transmitted by the clamping to the tip of the cantilever and acoustic noises as external uniform and orthogonal waves. For model validation, an experimental setup including cantilevers of different lengths is designed and a high resolution laser interferometer is used for vibration measurements. Results show that the model allows a physical interpretation about the sources of noise and vibrations in millimeter sized micromanipulation systems leading to new perspectives for high positioning accuracy in robotics micromanipulation through active noise control.

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Section: Introductionmentioning

confidence: 99%

Noise characterization in millimeter sized micromanipulation systems

et al. 2011

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“…The maximal strain of MSMA is one or two orders greater than that of piezoelectric or magnetostrictive materials and the response-time of MSMA is one or two orders smaller than that of classical SMA. For larger motions, the displacement range of this actuator can be amplified with compliant mechanical structures as is the case for actuators based on other active materials (see [46] for a amplified piezoelectric structure and [47] for an amplified magnetostrictive actuator).…”

Section: Resultsmentioning

confidence: 99%

Magnetic Shape Memory Alloys as smart materials for micro-positioning devices

Hubert

Calchand

Gorrec

et al. 2012

AEM

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In the field of microrobotics, actuators based on smart materials are predominant because of very good precision, integration capabilities and high compactness. This paper presents the main characteristics of Magnetic Shape Memory Alloys as new candidates for the design of micromechatronic devices. The thermo-magneto-mechanical energy conversion process is first presented followed by the adequate modeling procedure required to design actuators. Finally, some actuators prototypes realized at the Femto-ST institute are presented, including a push-pull bidirectional actuator. Some results on the control and performances of these devices conclude the paper.

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“…15). Indeed, it was already shown by authors in [25] that the linear vibrational characteristics of the transient response is independent of the amplitude of the voltage. Thus, in the following, the transient part will be assumed to be the normalized G co transfer function (i.e.…”

Section: Control Using Exteroceptive Laser Sensor Measurement 511 mentioning

confidence: 93%

Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities

Moussa¹,

Grossard²,

Boukallel

et al. 2014

Mechatronics

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Nicolas Chaillet. Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities.. Mechatronics, Elsevier, 2014, 24, pp.590-604. 10.1016/j.mechatronics.2013 Modeling AbstractIn this paper, modeling and control strategies for a new observability-optimized piezoelectric microactuator are presented. The targeted applications concern mainly the design of microgripper for micromanipulation tasks. The device has been designed using a topological optimization method, which takes into account the optimal full integration of piezoelectric actuating and sensing elements within the device. It is achieved in link with modal controllability and observability considerations. The vibrational modes that govern the tip deflection of the monolithic compliant structure are proved to be fully observable by the integrated sensing area of the device. The proposed control strategy permits to simply reconstruct the deflection using electric charges measurement and modal state observer. Finally, the vibrations naturally induced by the flexible structure are successfully damped using robust and low order controller.

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Modeling and Robust Control Strategy for a Control-Optimized Piezoelectric Microgripper

Cited by 62 publications

References 26 publications

Noise characterization in millimeter sized micromanipulation systems

Noise characterization in millimeter sized micromanipulation systems

Magnetic Shape Memory Alloys as smart materials for micro-positioning devices

Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities

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