Design and dextrous control of micromanipulator with 6 D.O.F

Author

Fukuda, Toshio ; Fujiyoshi, Motohiro ; Kosuge, Knzuhiro ; Arai, Fumihito

Author_Institution

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

fYear

1991

fDate

19-22 June 1991

Firstpage

343

Abstract

A six-degrees-of-freedom micromanipulator using PZT actuators has been designed and tested. The main features are that: (1) the micromanipulator is very small and light: (2) it has a position and force feedback system, and can control desired poses and forces; (3) since the manipulator has 6 d.o.f., the tip of this manipulator can move along three axes, and can also rotate along each axis; (4) a fuzzylike variable gain feedback control system is employed, and hence the system performs 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

feedback; manipulators; micromechanical devices; 6-d.o.f. micromanipulator; PZT actuators; PbZrO3TiO3; dextrous control; force control; force feedback system; fuzzylike variable gain feedback control system; pose control; position feedback; Actuators; Control systems; Feedback control; Force control; Force feedback; Lighting control; Micromanipulators; Microscopy; Performance gain; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240629

Filename

240629