Robotic microassembly and micromanipulation at FEMTO-ST

Agnus, Joël; Chaillet, Nicolas; Clevy, Cédric; Dembélé, Sounkalo; Gauthier, Michaël; Haddab, Yassine; Laurent, Guillaume J.; Lutz, Philippe; Piat, Nadine; Rabenorosoa, Kanty; Rakotondrabe, Micky; Tamadazte, Brahim

doi:10.1007/s12213-013-0065-5

Cited by 73 publications

(41 citation statements)

References 49 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Such actuator is essential for the development of piezoelectric microgrippers dedicated to micromanipulation or microassembly applications [20].…”

Section: Resultsmentioning

confidence: 99%

Combining self-sensing with an unkown-input-observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuators

Rakotondrabe¹

2013

2013 American Control Conference

View full text Add to dashboard Cite

To cite this version:Micky Rakotondrabe. Combining self-sensing with an Unkown-Input-Observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuators.. American Control Conference, ACC'2013., Jan 2013 Combining self-sensing with an Unkown-Input-Observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuatorsMicky Rakotondrabe, Member, IEEE Abstract-Self-sensing techniques is defined as the use of an actuator as a sensor at the same time. The main advantage of such techniques is the embeddability and the packageability of the systems. This paper deals with the development of a self-sensing technique able to estimate the displacement, the force and the state in piezoelectric cantilevered actuators. The main novelties relative to previous works are: 1) three signals (displacement, force and states) are provided at the same time instead of only two (displacement and force), 2) and these three signals are provided in a complete way, i.e. low and high frequency information can be provided (instead of exclusively low or high frequency). It is therefore possible to further use the measurement for a displacement control or for a force control by using the output feedback methods or by using modern control methods (state-feedback). In order to allow such measurement possibilities, the proposed approach consists in combining an unknowninput-observer (UIO) with the classical electrical circuit of a self-sensing. The experimental results confirm the effectiveness of the proposed approach.

show abstract

“…Such actuator is essential for the development of piezoelectric microgrippers dedicated to micromanipulation or microassembly applications [20].…”

Section: Resultsmentioning

confidence: 99%

Combining self-sensing with an unkown-input-observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuators

Rakotondrabe¹

2013

2013 American Control Conference

View full text Add to dashboard Cite

show abstract

“…Laurent et al [16,18,41] used this traction principle to move a product using an array of vertical air jets to induce desired potential air flow over the surface. This device is able to move centimetersized objects up to 220 mm/s with millimeter closed-loop positioning accuracy.…”

Section: Air Flow Manipulatorsmentioning

confidence: 99%

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

Laurent

Moon

2015

Intel Serv Robotics

View full text Add to dashboard Cite

Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of thin delicate objects. This paper discusses a comprehensive survey of state-of-the-art pneumatic manipulation from the macro scale to the micro scale. The working principles and actuation methods of previously developed air-bearing surfaces, ultra-sonic bearing surfaces, air-flow manipulators, air-film manipulators, and tilted air-jet manipulators are reviewed with a particular emphasis on the modeling and the control issues. The performance of the previously developed devices are compared quantitatively and open problems in pneumatic manipulation are discussed.

show abstract

“…Micro-grasping focuses on the grasping of micro-objects ranging from a few to hundreds of micrometers in dimension, which is important in micro-assembly (Woern et al 2000;Kim et al 2004;Cecil et al 2007;Agnus et al 2013). A micro-grasping system mainly includes the actuator and the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and test of a novel compliant orthogonal displacement amplification mechanism for the compact micro-grasping system

2016

View full text Add to dashboard Cite

show abstract

Robotic microassembly and micromanipulation at FEMTO-ST

Cited by 73 publications

References 49 publications

Combining self-sensing with an unkown-input-observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuators

Combining self-sensing with an unkown-input-observer to estimate the displacement, the force and the state in piezoelectric cantilevered actuators

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

Design, modeling and test of a novel compliant orthogonal displacement amplification mechanism for the compact micro-grasping system

Contact Info

Product

Resources

About