Design and dextrous control of micromanipulator with 6 DOF

Author

Fukuda, Toshio ; Fujiyoshi, Motohiro ; Arai, Fumihito ; Matsuura, Hideo

Author_Institution

Dept. of Mech. Eng., Nagoya Univ., Japan

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1628

Abstract

A six-degree-of-freedom micromanipulator using PZT actuators has been designed and tested. The micromanipulator is very small and light, because it is made of PZT actuators. Since this micromanipulator has a position and force feedback system, it can control desired poses and forces. Since the manipulator has 6 degrees of freedom, its tip can move along three axes, and can also rotate along each axis. A fuzzy-like variable gain feedback control system is employed, making this system perform better than the fixed gain feedback system. These technical merits will make it possible to operate this dextrous micromanipulator in much more complicated environments under a microscope

Keywords

control system synthesis; electric actuators; feedback; force control; position control; robots; 6 DOF; PZT actuators; design; dextrous control; force control; fuzzy-like variable gain feedback control; micromanipulator; position control; Actuators; Copper; Force control; Force feedback; Gears; Mechanical engineering; Micromanipulators; Microscopy; Performance gain; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131851

Filename

131851