ZHANG Tie, SHAO Ming, YAN Bo. INTELLIGENT CONTROL FOR MAGNETIC LEVITATION SINGLE FREEDOM MICRO-MANIPULATOR[J]. ROBOT, 2003, 25(6): 501-504.
Citation: ZHANG Tie, SHAO Ming, YAN Bo. INTELLIGENT CONTROL FOR MAGNETIC LEVITATION SINGLE FREEDOM MICRO-MANIPULATOR[J]. ROBOT, 2003, 25(6): 501-504.

INTELLIGENT CONTROL FOR MAGNETIC LEVITATION SINGLE FREEDOM MICRO-MANIPULATOR

More Information
  • Received Date: March 19, 2003
  • Published Date: November 14, 2003
  • This paper presents a new type of micro manipulator driven by magnetic force. The principle of a single freedom micro manipulator is introduced. The control system of the micro manipulator is researched, which consists of displacement sensor, electro magnet, driver circuit, A/D and D/A cards. Intelligent control method of dual CMAC is put forword.The control program is compiled with C++ and Matlab language. The experiment result indicates that the system can meet the control requirement for the maqnipulator movement.
  • [1]
    Ikada. Direct stiffness and force control of shape memory alloy actuator and application to miniature clean gripper[A].ASME Winter Annual Meeting, USA: 1989: 1156-1165.
    [2]
    Dominiek Reynaerts, Hendrik Van Brussel. Design aspects of shape memory actuators[J].Mechatronics, 2000, (8): 524-545.
    [3]
    张铁,谢存禧,李杞仪等.SMA驱动的微型平面关节机器人的研究[J].机器人,1998,20(6):449-454.
    [4]
    Peter Jaenker, Christmann M, Hermle F, et. al. Mechatronics using piezoelectric actuators[J].Journal of the European Ceramic Society,1999, (19): 1127-1131.
    [5]
    Suzuki Y, Tani K, Sakuhara T. Development of a new type piezoelectric micromotor[J].Sensors and Actuators, 2000, 83:244-248.
    [6]
    孙立宁,安辉,蔡鹤皋.压电陶瓷驱动并联微动机器人的研究[J].高技术通讯,1997,(3):26-29.
    [7]
    钱晋武,张彦彬,章亚男等.压电陶瓷驱动微小机器人移动机构性能实验研究[J].机械与电子,1998,(4):29-30.

Catalog

    Article views (44) PDF downloads (335) Cited by()
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return