Paper
16 May 2005 Modeling and motion control of inchworm considering nonlinearities
Author Affiliations +
Abstract
This paper proposes a new modeling scheme to describe the hysteresis and the preload characteristics of piezoelectric stack actuators in the inchworm. From the analysis of piezoelectric stack actuator behavior, the hysteresis can be described by the functions of a maximum input voltage and the preload characteristics are identified by the preload weight. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. For the motion control, the hysteresis is compensated by the inverse hysteresis model. Since the dynamic stiffness of an inchworm is generally low compared to its driving condition, the mechanical vibration may degrade accuracy of the inchworm. Therefore, the SMC (Sliding Mode Control) and the Kalman filter are developed for the precision motion control of the inchworm. The feasibility of the proposed modeling scheme and the control algorithm is tested and verified experimentally.
© (2005) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yeung-Shik Kim, Insoo Kim, and Kibum Kim "Modeling and motion control of inchworm considering nonlinearities", Proc. SPIE 5760, Smart Structures and Materials 2005: Damping and Isolation, (16 May 2005); https://doi.org/10.1117/12.599759
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Actuators

Motion models

Control systems

Data modeling

Process modeling

Motion controllers

Filtering (signal processing)

RELATED CONTENT


Back to Top