Development, Modeling, and Control of a Micro-/Nanopositioning 2-DOF Stick–Slip Device
作者： M. Rakotondrabe , Y. Haddab , P. Lutz
DOI: 10.1109/TMECH.2009.2011134
关键词:
摘要: The studies presented in this paper are motivated by the high performances required micromanipulation/microassembly tasks. For that, presents development, modeling, and control of a 2-DOF (in linear angular motion) micropositioning device. Based on stick-slip motion principle, device is characterized unlimited strokes submicrometric resolutions. First, experiments were carried out to characterize resolution speed. After state-space model was developed for substep functioning. Such functioning interesting highly accurate task like nanopositioning. validated experimentally. Finally, controller designed applied results show good robustness margins response time closed-loop system.
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