Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (development of controller for experiments on frequency characteristics of running microrobot)

Isogai, Masahiro

doi:10.1109/mhs.2012.6492443

Cited by 1 publication

(1 citation statement)

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“…This robot is controlled by virtual-Winding approach (VWA) & PWM-Based-Vector-Synthesize (PBVSA) current control methods. Isogai 14 proposed a structure and its corresponding control method that enables a micro-robot to turn with only one electromagnet coil. Open-loop force control is applied using the difference in the vibration frequency.…”

Section: Introductionmentioning

confidence: 99%

Robust velocity control for an A-shaped micro-robot with stick-slip locomotion

Moradian

Vossoughi

2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, the problem of velocity control of a micro-robot's locomotion with nanometric resolution has been investigated. A sliding, A-shaped micro-robot, used in precision positioning applications is analyzed. This micro-robot is actuated by means of a piezoelectric stack actuator in order to produce translational and periodic motion. A dynamic model of the robot is proposed assuming linear behavior for the piezoelectric stack and Coulomb friction model. Then, in order to control the velocity of micro-robot, first a robust sliding mode control is used so that the relative angle between the legs in the micro-robot tracks a periodic reference signal. The velocity tracking for the micro-robot is achieved using an amplitude modulation strategy by adapting the amplitude of this reference signal. Velocity control of locomotion is assumed to be in the presence of a non-separation constraint (between the legs and the substrate) and friction uncertainties. Also, a state observer is designed to estimate the rate of change of the relative angle between the legs of the micro-robot, which is needed in the velocity control algorithm. Finally, simulation results are presented which illustrate the effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%