Piezo LEGS Driving Principle Based on Coordinate Transformation

Uzunović, Tarik; Golubovic, Edin; Şabanoviç, Asif

doi:10.1109/tmech.2014.2351272

Cited by 20 publications

(12 citation statements)

References 25 publications

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“…This motor is capable of very precise positioning and has high force/volume ratio which makes it ideal for precise positioning application where size and weight constraints play dominant role in design [19], [23], [26]. This work additionally demonstrates the force control capabilities of such motor.…”

Section: System Descriptionmentioning

confidence: 66%

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Force control of piezoelectric walker

Uzunović

Golubovic²,

Şabanoviç

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Abstract-This paper is concerned with the force control of a walking piezoelectric motor, a commercially available Piezo LEGS motor. The motor is capable of providing high precision positioning control on nanometer scale, but also relatively high forces up to 6 N. The proposed force control algorithm is very simple, but effective, and it is based on a recently presented coordinate transformation. The transformation allows definition of the driving waveforms for the motor according to a desired motion of the motor legs in the plane of motion. Such a possibility opens a path for creating the y-direction interaction force between the motor legs and the rod which is enough to ensure no relative motion between the legs and the rod. Once that is achieved, one can control the x-direction force imposed by the motor rod on its environment. The presented force control scheme has been successfully validated through a series of experiments.

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Section: System Descriptionmentioning

confidence: 66%

“…In this paper, a novel force control algorithm for the Piezo LEGS motor is proposed and it is based on our novel driving strategy for this motor based on a coordinate transformation [26]. The transformation allows independent control of the motor legs in both directions (x-and y-directions) in their plane of motion.…”

Section: Introductionmentioning

confidence: 99%

Force control of piezoelectric walker

Uzunović

Golubovic²,

Şabanoviç

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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“…Indeed, modeling of contact mechanics and control of piezoelectric motors to clarify the nature of the operating principal and to optimize performance has always been an important study area in the field of piezoelectric motors [78][79][80][81][82][83][84][85][86][87].…”

Section: Discussionmentioning

confidence: 99%

Piezoelectric Motors, an Overview

Spanner

Koç

2016

Actuators

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Piezoelectric motors are used in many industrial and commercial applications. Various piezoelectric motors are available in the market. All of the piezoelectric motors use the inverse piezoelectric effect, where microscopically small oscillatory motions are converted into continuous or stepping rotary or linear motions. Methods of obtaining long moving distance have various drive and functional principles that make these motors categorized into three groups: resonance-drive (piezoelectric ultrasonic motors), inertia-drive, and piezo-walk-drive. In this review, a comprehensive summary of piezoelectric motors, with their classification from initial idea to recent progress, is presented. This review also includes some of the industrial and commercial applications of piezoelectric motors that are presently available in the market as actuators.

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“…These requirements could be represented as a desired motion of the tip of the leg in the (x, y) plane. If the (x, y) trajectories for the leg are arbitrarily defined, as some periodic closed curves r i that it can be written in parametric form as (53) ( f xi , f yi ) for kT ≤ t ≤ (k + 1)T , k = 1, 2, 3 . .…”

Section: New Pzt Actuatorsmentioning

confidence: 99%

“…For motor with n legs the motion of the legs with supply voltages can be expressed in the following form (53) v i1 = α i ( f x j + f y j ) and v i2 = α i ( f x j − f y j ); i = 1, . .…”

Section: New Pzt Actuatorsmentioning

confidence: 99%

Challenges in Motion Control Systems

Şabanoviç

2017

IEEJ Journal IA

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Motion control technology is making its way into the unstructured world inhabited by humans. It allows development of applications beyond the structured environment of an industrial plant. Such applications of motion control technology require shifting focus to the models, control strategies and algorithms needed for systems to work, interact, and cooperate with humans or other artifacts in an unstructured environment. Real-world haptic interactions are becoming an important technology with potential application in many different fields like surgery, teleoperation, cooperative work, microsystems, and education. These developments are leading to numerous challenges that need to be solved in order to develop practical and competent systems that support the human operator, and are fault tolerant, safe, easy to use, and capable of adapting to long-term changes in the environment. This paper discusses a number of the emerging issues within motion control technology, including but not limited to new algorithms that allow concurrent force/position control, human-in-the loop control, control in functionally related systems and haptics over internet.

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Piezo LEGS Driving Principle Based on Coordinate Transformation

Cited by 20 publications

References 25 publications

Force control of piezoelectric walker

Force control of piezoelectric walker

Piezoelectric Motors, an Overview

Challenges in Motion Control Systems

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