Modelling and Robust Position/Force Control of a Piezoelectric Microgripper.
Résumé
This paper deals with the control of a piezoelectric microgripper based on two piezocantilevers. To avoid the destruction of the manipulated micro-object and to permit a high accurate positioning, the microgripper is controlled on position and on force. Each piezocantilever is separately modelled and controlled : while the one is controlled on position, the second is controlled on force. Because the models are subjected to uncertainties and the micromanipulation requires good performances, a H robust controller is designed for each system. The experiments end the paper and show that good performances are obtained.
Origine : Fichiers produits par l'(les) auteur(s)
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