Simultaneous Actuation and Force Estimation Using Piezoelectric Actuators
Simultaneous Actuation and Force Estimation Using Piezoelectric Actuators
复制标题
使用压电致动器同时致动和力估计
DOI：
10.1109/icma.2007.4304084
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
H. Koivo
中科院分区：
文献类型：
--
作者：
P. Ronkanen;P. Kallio;H. Koivo
本文介绍了一种力估计方法，该方法可以实现同时驱动和利用压电作动器进行力估计。该方法将致动器输入电压和电流与力估计器的位移测量结合在一起。力估计器包含一个非线性执行器模型，用于在不使用力传感器的情况下逼近当前外力。测量的位移可以同时用于反馈控制，以实现精确的微机器人操作。结果表明，该方法能够同时实现位置反馈控制下的静力和变力的估计。实验的位移轨迹既包含静止阶段，也包含移动阶段。实验结果表明，测力精度优于实测力的10%。因此，不使用分离力传感器的力传感是可行的，这为力传感在微型机器人中开辟了新的应用领域。
This paper introduces a force estimation method that enables simultaneous actuation and force estimation using piezoelectric actuators. The method combines an actuator input voltage and a current together with a displacement measurement to a force estimator. The force estimator contains a nonlinear actuator model to approximate the present external force without the use of force sensors. The measured displacement can simultaneously be utilized in feedback control to enable precise microrobotic operations. The results show that the method enables estimation of both static and varying forces under simultaneous position feedback control. Experimented displacement trajectories contain both stationary and mobile phases. The achieved accuracy in force estimation according to experiments is better than 10% of the full force scale. Therefore force sensing without the use of separate force sensors is feasible, which opens new applications for force sensing in microrobotics.