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http://dx.doi.org/10.5050/KSNVN.2008.18.7.756

Dynamic Analysis and Driving Input Shaping of Inchworm  

Kim, In-Soo (금오공과대학교 기계공학부)
Kim, Yeung-Shik (금오공과대학교 기계공학부)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.18, no.7, 2008 , pp. 756-763 More about this Journal
Abstract
This paper presents an inchworm with three piezoelectric actuators. The dynamic stiffness of the inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. The dynamic model of inchworm is identified by curve fitting technique based on the experimental frequency response function. For the precision motion control and low residual vibration of inchworm, driving input signal is designed by using cycloid step input and LQG control technique. Experimental result shows that proposed input shaping method is applicable effectively to the inchworm.
Keywords
Inchworm; Input Shaping; LQG Control; Kalman Filter; System Identification in Frequency Domain; Piezoelectric Actuator;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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