Force estimation in a piezoelectric cantilever using the inverse-dynamics-based UIO technique

— This paper presents the estimation of the force applied by a piezocantilever dedicated to micromanipulation/microassembly. Relative to previous works, the presented method avoids the reliance on the force dynamics on the characteristics of the microobjects. Furthermore, the estimation is a closed-loop kind technique so that convergency can be ensured efficiently. To perform these, we consider the force at the tip of a piezocantilever as an unknown input and we use an Unknown Input Observation technique. We especially use the Inverse-Dynamics-Based UIO technique because it is well suited for a piezocantilever model. The experiments show that the performances of the observer are convenient for micromanipulation/microassembly tasks.

• Type: Conference
• Year: 2009
• Where: ICRA
• Authors: Micky Rakotondrabe, Philippe Lutz
• Keywords: Closed-loop Kind Technique, ICRA 2009, Input Observation Technique, Robotics, Unknown Input