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Proceedings Paper

Modeling and motion control of inchworm considering nonlinearities
Author(s): Yeung-Shik Kim; Insoo Kim; Kibum Kim
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Paper 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.

Paper Details

Date Published: 16 May 2005
PDF: 12 pages
Proc. SPIE 5760, Smart Structures and Materials 2005: Damping and Isolation, (16 May 2005); doi: 10.1117/12.599759
Show Author Affiliations
Yeung-Shik Kim, Kumoh National Institute of Technology (South Korea)
Insoo Kim, Kumoh National Institute of Technology (South Korea)
Kibum Kim, Kumoh National Institute of Technology (South Korea)


Published in SPIE Proceedings Vol. 5760:
Smart Structures and Materials 2005: Damping and Isolation
Kon-Well Wang, Editor(s)

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