Control modeling of a micro-manipulator for human scale tele-operation system

In this paper a human scale tele-operation system was introduced. The micro operator with 6 degrees of freedom is the most accurate part of the system. The micro operator is driven by 6 piezoelectric actuators. Because of the non-linear hysteretic restoring force, the accuracy of the micro operator couldn´t get a very high level. Before compensation of the non-linear hysteretic restoring force, to describe the micro operator with a mathematic model is very important. In the paper, the authors build the micro operator´s model with Bouc-Wen model. Then with a genetic algorithm the parameters in the mathematic model were identified. At last by experiments the identified parameters were tested and verified.