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Communication Dans Un Congrès Année : 2007

Modelling and optimization of a floating triangular platform used for nano and microforces sensing.

Résumé

This paper presents the dynamic behaviour modelling of a horizontal triangular platform, used as the sensing part of a microforce sensor. This sensor is based on a magnetic and a buoyancy principle. A particular configuration used to obtain a linear model is presented. This linear model will be essential for the futur control of the system, in order to achieve force measurement without displacement of the platform. The determination of the platform position and orientation in the horizontal plane is done thanks to three laser range sensors. Sensors configuration provide a linear transformation between the three measured ranges and the position and orientation of the platform. Finally, an open loop result comparison is done between the linear state model and a more complex 3D non linear model.
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Dates et versions

hal-00186818 , version 1 (12-11-2007)

Identifiants

  • HAL Id : hal-00186818 , version 1

Citer

Ali Cherry, Joël Abadie, Emmanuel Piat. Modelling and optimization of a floating triangular platform used for nano and microforces sensing.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'07., Oct 2007, San Diego, CA., United States. pp.1118-1123. ⟨hal-00186818⟩
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