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This paper presents a model-based ultra-precision stage control that utilizes a contact-type non-resonant ultrasonic actuator. The linear actuator is the synchronous piezoelectric device driver (SPIDER), which has the strong non-linearity due to the friction drive mechanism. Therefore, the friction characteristics are at first experimentally evaluated. Next, focusing on the non-linear property of...
Passive-dynamic walkers are mechanical devices that can walk down a slope without motors or controllers. Here we present a design improvement to the construction of these machines. We have built a classical passive-dynamic walking machine, but we have replaced the original suction cups knee-locking mechanism with two new designs: one with passive magnetic lock, and another that features an active...
This paper presents an adaptive friction compensation algorithm based on LuGre friction model with only measurements of position for a high precision stage using a synchronous piezoelectric device driver (SPIDER). Two observers are used to estimate an unmeasured friction state in LuGre model. Adaptive control laws are derived on the basis of the Lyapunov technique for estimating unknown friction parameters,...
It is well-known that one of the major limitations to achieve a good performance in mechanical systems is the presence of friction. High resolution positioning systems operating with accuracies in nanometer region usually exhibit relatively large steady-state tracking errors or even oscillations if controllers are designed without considering friction. Consequently, this paper aims at improving the...
This paper presents a friction model-based ultra-precision stage control that utilizes the contact-type non-resonant ultrasonic motor. At first, the friction characteristic is experimentally evaluated as a function of the stage position. Next, focusing on the non-linear property of the static friction, the model-based control system is constructed. The authors also consider the time variation of the...
The paper deals with vibration suppression control of flexible structures applying a fuzzy controller. Due to the complexity of the mathematical model related to the flexible structures, due to the restriction imposed by the actuator (force stroke limitation) as well as economical aspects, a fuzzy logic based approach of the control system is proposed. The experimental results using a fuzzy controller...
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