TY - GEN
T1 - Piezoelectric manipulation robotic system for automatic handling of micrometric objects using visual servoing control techniques
AU - Madrigal, Victor Castillo
AU - Madrigal, Jesus Castillo
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper presents the design of a micro-manipulator based on piezoelectric actuators, that may have potential applications for handling biological tissue and animal cells. This article focuses on developing the electronic instrumentation, the evaluation of several controllers as well as the inclusion of the visual servoing components. The robotic system consists of a robotic arm made with 6 degrees of freedom and a dual-finger gripper made with 2 bi-morph piezoelectric actuators. The instrumentation includes the electrical devices that drive the actuators, dc-motors and, piezoelectric, which allow the micromanipulator to handle small objects. In view of the proposed manipulator aims to use visual servoing, the instrumentation stage includes the implementation of electronic cameras to close the control loop. This study evaluated a class of extended state feedback as well as a class of twisting controllers with the application of a super-twisting algorithm operating as a robust exact differentiator for each of the angular motions in the robotic manipulator. The comparison proved that the norm of the tracking error reduced faster and attained smaller values when the twisting controller was implemented. The application of low-pass filters aided to reduce the chattering effect on the robotic manipulation tasks. The motion of the piezolectric actuators was also mobilized using the same controller considering the robustness of the twisting controller to overcome the effect of the hysteresis nonlinear effect. The proposed controller succeeded to complete the gripping process using the given piezoelectric configuration.
AB - This paper presents the design of a micro-manipulator based on piezoelectric actuators, that may have potential applications for handling biological tissue and animal cells. This article focuses on developing the electronic instrumentation, the evaluation of several controllers as well as the inclusion of the visual servoing components. The robotic system consists of a robotic arm made with 6 degrees of freedom and a dual-finger gripper made with 2 bi-morph piezoelectric actuators. The instrumentation includes the electrical devices that drive the actuators, dc-motors and, piezoelectric, which allow the micromanipulator to handle small objects. In view of the proposed manipulator aims to use visual servoing, the instrumentation stage includes the implementation of electronic cameras to close the control loop. This study evaluated a class of extended state feedback as well as a class of twisting controllers with the application of a super-twisting algorithm operating as a robust exact differentiator for each of the angular motions in the robotic manipulator. The comparison proved that the norm of the tracking error reduced faster and attained smaller values when the twisting controller was implemented. The application of low-pass filters aided to reduce the chattering effect on the robotic manipulation tasks. The motion of the piezolectric actuators was also mobilized using the same controller considering the robustness of the twisting controller to overcome the effect of the hysteresis nonlinear effect. The proposed controller succeeded to complete the gripping process using the given piezoelectric configuration.
KW - Control
KW - Micro-manipulation
KW - Robotics
KW - Visual feedback
UR - http://www.scopus.com/inward/record.url?scp=85146436664&partnerID=8YFLogxK
U2 - 10.1109/ANDESCON56260.2022.9989551
DO - 10.1109/ANDESCON56260.2022.9989551
M3 - Contribución a la conferencia
AN - SCOPUS:85146436664
T3 - 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022
BT - 2022 IEEE ANDESCON
A2 - Lozada, Mariela Cerrada
A2 - Mendoza, Paul Sanmartiin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 11th IEEE Conference of the Andean Council, ANDESCON 2022
Y2 - 16 November 2022 through 19 November 2022
ER -