We show how thin planar piezoelectric actuators can be used for the robust regulation and trajectory tracking of flexible robots. The analysis is restricted to single-link flexible robot arms, having a planar 'sandwich' structure, constituted by two piezoelectric films, mounted on a thin elastic support. The motion of the structure can be approximately described by finite dimensional, linear, time-invariant equations. The proposed controller provides the regulation of the generalized coordinates, which describe the structure shape, to zero or to constant reference signals with zero steady-state error, and the tracking of ramp reference signals with a finite, arbitrarily bounded, steady-state error, even when variations of the structure parameters occur. Some simulation results are reported. © 1995 Taylor & Francis Group, LLC.

Indri, M., & Tornambè, A. (1995). Robust regulation and trajectory tracking for flexible robots by using piezoelectric actuators. ADVANCED ROBOTICS, 10(3), 265-282 [10.1163/156855395X00391].

Robust regulation and trajectory tracking for flexible robots by using piezoelectric actuators

Tornambè, Antonio
1995

Abstract

We show how thin planar piezoelectric actuators can be used for the robust regulation and trajectory tracking of flexible robots. The analysis is restricted to single-link flexible robot arms, having a planar 'sandwich' structure, constituted by two piezoelectric films, mounted on a thin elastic support. The motion of the structure can be approximately described by finite dimensional, linear, time-invariant equations. The proposed controller provides the regulation of the generalized coordinates, which describe the structure shape, to zero or to constant reference signals with zero steady-state error, and the tracking of ramp reference signals with a finite, arbitrarily bounded, steady-state error, even when variations of the structure parameters occur. Some simulation results are reported. © 1995 Taylor & Francis Group, LLC.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Computer Science Applications1707 Computer Vision and Pattern Recognition; Hardware and Architecture; Human-Computer Interaction; Software; Control and Systems Engineering
Indri, M., & Tornambè, A. (1995). Robust regulation and trajectory tracking for flexible robots by using piezoelectric actuators. ADVANCED ROBOTICS, 10(3), 265-282 [10.1163/156855395X00391].
Indri, M; Tornambè, A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193773
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