Modeling and motion control of inchworm considering nonlinearities

Yeung-Shik Kim; Insoo Kim; Kibum Kim

doi:10.1117/12.599759

16 May 2005 Modeling and motion control of inchworm considering nonlinearities

Yeung-Shik Kim, Insoo Kim, Kibum Kim

Proceedings Volume 5760, Smart Structures and Materials 2005: Damping and Isolation; (2005) https://doi.org/10.1117/12.599759
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2005, San Diego, California, United States

Abstract

This paper proposes a new modeling scheme to describe the hysteresis and the preload characteristics of piezoelectric stack actuators in the inchworm. From the analysis of piezoelectric stack actuator behavior, the hysteresis can be described by the functions of a maximum input voltage and the preload characteristics are identified by the preload weight. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. For the motion control, the hysteresis is compensated by the inverse hysteresis model. Since the dynamic stiffness of an inchworm is generally low compared to its driving condition, the mechanical vibration may degrade accuracy of the inchworm. Therefore, the SMC (Sliding Mode Control) and the Kalman filter are developed for the precision motion control of the inchworm. The feasibility of the proposed modeling scheme and the control algorithm is tested and verified experimentally.

Citation Download Citation

Yeung-Shik Kim, Insoo Kim, and Kibum Kim "Modeling and motion control of inchworm considering nonlinearities", Proc. SPIE 5760, Smart Structures and Materials 2005: Damping and Isolation, (16 May 2005); https://doi.org/10.1117/12.599759

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available