@Article{2018.100000008,
AUTHOR = {Qais A. Khasawneh, Mohammad Abdel Kareem Jaradat, Mohammad Al-Shabi, Hala Khalaf},
TITLE = {Active Control of a Piezoelectric Actuated Four-Bar Mechanism Deployed  in Robotics Applications},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {24},
YEAR = {2018},
NUMBER = {2},
PAGES = {443--457},
URL = {http://www.techscience.com/iasc/v24n2/39770},
ISSN = {2326-005X},
ABSTRACT = {This work presents a new micro-positioning system that is implemented in an 
inchworm robot to move into desired locations. The system consists of four-bar 
mechanism; one link is fixed, and each one of the remaining links carries a 
piezoelectric actuator (PZT). PZTs are specifically chosen since they provide fast 
response and small displacements; up to ±30 µm for ±100 Volts. The system’s 
mathematical model is derived and is numerically simulated by MATLAB. Three 
fuzzy PI controllers, which are tuned automatically by genetic algorithm, are 
designed to control the system. Results indicate an error of less than 1% 
although disturbances present.},
DOI = {10.31209/2018.100000008}
}