ICRA'09 Paper Abstract


Paper FrB9.1

Rakotondrabe, Micky (FEMTO-st Institute), Lutz, Philippe (Université de Franche-Comté)

Force Estimation in a Piezoelectric Cantilever Using the Inverse-Dynamics-Based UIO Technique

Scheduled for presentation during the Regular Sessions "Micro/Nano Robotics - II" (FrB9), Friday, May 15, 2009, 10:30−10:50, Room: 501

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Micro/Nano Robots, Smart Actuators, Force/Impedance/Compliance


This paper presents the estimation of the force applied by a piezocantilever dedicated to micromanipulation/microassembly. Relative to previous works, the presented method avoids the reliance on the force dynamics on the characteristics of the micro-objects. Furthermore, the estimation is a closed-loop kind technique so that convergency can be ensured efficiently. To perform these, we consider the force at the tip of a piezocantilever as an unknown input and we use an Unknown Input Observation technique. We especially use the Inverse-Dynamics-Based UIO technique because it is well suited for a piezocantilever model. The experiments show that the performances of the observer are convenient for micromanipulation/microassembly tasks.



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