Title :
Simulation of Tracking Control for a Piezo-Driven Miniature Robot Based on Global Vision
Author :
Du, Qiliang ; Zhang, Bin ; Tian, Lianfang ; Aoyama, Hisayuki
Author_Institution :
Coll. of Autom. Sci. & Technol., South China Univ. of Technol., Guangzhou, China
Abstract :
Piezo was used widely in precise machinery, micro electromechanical system assembly, bio-engineering, optics engineering and so on. Based on the stick-and-slip moving manner, a detailed modeling was studied for a piezo actuators parallel-setup robot, which was able to move on a ferromagnetic working surface. A global vision sensor was used for positioning and locomotive control. A trajectory tracking controller was designed in the image space via Lyapunov function, whose results were verified by simulation.
Keywords :
Lyapunov methods; control system synthesis; electric locomotives; mobile robots; piezoelectric actuators; robot vision; trajectory control; Lyapunov function; bioengineering; ferromagnetic working surface; global vision sensor; image space; locomotive control; microelectromechanical system; optics engineering; piezoactuator parallel-setup robot; piezodriven miniature robot; positioning control; stick-and-slip moving manner; trajectory tracking controller design; Aerospace electronics; Cameras; Mobile robots; Robot kinematics; Tracking; Trajectory; locomotion modeling; miniature robot; piezo; trajectory tracking;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2012 Fifth International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-1-4673-0470-2
DOI :
10.1109/ICICTA.2012.112
