Abstract
This article is concerned with motion control problem of a new miniature one-armed mobile micromanipulator actuated by multidegree of freedom ultrasonic actuators using active driving friction mechanism. The main control disturbances are due to the nonlinear and nonholonomic constraints governing the motion of the mobile platform in a small workplace and, also, to the fact that the dynamics of the micromanipulator and the mobile platform are highly coupled. It is proposed in this article to tackle the robustness issue by designing and implementing new schemes for motion coordination and hybrid position/force control.
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© 2000 Springer-Verlag Wien
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Ferreira, A., Minotti, P. (2000). Motion Coordination and Hybrid Position/Force Control of a Mobile Micromanipulator Actuated by Direct-Drive Vibromechanisms. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_17
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_17
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
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