TY - EJOU
AU - Khasawneh, Qais A.
AU - Jaradat, Mohammad Abdel Kareem
AU - Al-Shabi, Mohammad
AU - Khalaf, Hala
TI - Active Control of a Piezoelectric Actuated Four-Bar Mechanism Deployed in Robotics Applications
T2 - Intelligent Automation \& Soft Computing
PY - 2018
VL - 24
IS - 2
SN - 2326-005X
AB - 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.
KW - Fuzzy
KW - Genetic Algorithm
KW - Micro-positioning
KW - PI controller
KW - Piezoelectric Actuators
DO - 10.31209/2018.100000008