Qais A. Khasawneh1,3, Mohammad Abdel Kareem Jaradat1,2, Mohammad Al-Shabi4, Hala Khalaf1
Intelligent Automation & Soft Computing, Vol.24, No.2, pp. 443-457, 2018, DOI:10.31209/2018.100000008
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. More >
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