Abstract
Piezoelectric stick-slip actuators have become the foundation of modern micromanipulation. Due to difficulty in closed-loop control with manipulators that use piezoelectric stick-slip actuators, methods for open-loop control with a human in the loop have been developed. The utility of such methods depends directly on the accuracy of the open-loop models of the manipulator. Prior research has shown that modeling of piezoelectric actuators is not a trivial task as they are known to suffer from nonlinearities that degrade their performance. In this paper, we study the effect of static (non-inertial) loads on a prismatic and a rotary piezoelectric stick-slip actuator, and obtain a model relating the step size of the actuator to the load. The actuator-specific parameters of the model are calibrated by taking measurements in specific configurations of the manipulator. Results comparing the obtained model to experimental data are presented.
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© 2013 Springer International Publishing Switzerland
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Damani, A., Nambi, M., Abbott, J.J. (2013). An Empirical Study of Static Loading on Piezoelectric Stick-Slip Actuators of Micromanipulators. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_5
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DOI: https://doi.org/10.1007/978-3-319-00065-7_5
Publisher Name: Springer, Heidelberg
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