Title :
Force-sensorless bilateral control using piezoelectric cantilever with Nonlinearity Compensation
Author :
Matsumi, Y. ; Yu, Kaiyuan ; Ohnishi, Kengo
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
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 micro-macro bilateral control between linear motor and piezoelectric cantilever.
Keywords :
cantilevers; compensation; force control; linear motors; observers; RFOB; creep phenomenon; force sensorless bilateral control; linear motor; micro-macro bilateral control; nonlinearity compensation; piezoelectric cantilever; piezoelectric constant; reaction force observer; Artificial intelligence; Force; Manganese; bilateral control; haptics; microelectromechanical systems; micromanipulators; nonlinearity; observers; piezoelectric actuators; sensorless control;
Conference_Titel :
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location :
Yokohama
DOI :
10.1109/AMC.2014.6823258