Design and Control of Two-Serial-Link Piezoelectric Manipulator

Abstract

This paper describes a methodology for modeling, system identification, and designing a controller of a two degrees-of-freedom manipulator made from piezoelectric material. A piezoelectric bimorph is composed of two piezoelectric ceramic plates bonded to a brass plate which is sandwiched between the piezoelectric plates. One piezoelectric bimorph is attached perpendicularly to the other bimorph to form the manipulator. The manipulator is modeled using the finite element method. A reduced order model of the manipulator is obtained through modal analysis. The reduced order model is used to design closed-loop feedback controllers based on the exact feedback linearization (1) to regulate a tip of the manipulator to a set point or (2) to make the tip to track a desired signal. The closed-loop control manipulator can accomplish the tasks with satisfied results.