{"title":"基于神经网络的微型机械臂控制","authors":"J. Cas, R. Klobučar, R. Šafarič","doi":"10.1109/AMC.2008.4516108","DOIUrl":null,"url":null,"abstract":"This paper describes a neural network based control approach for position control of a 2DOF micro-manipulator. This micro-manipulator consists of a parallel mechanism, which is fabricated from photo-sensitive micro-structured glass and two piezoelectric actuators (PEA), which actuate the \"x\" and \"y\" degrees of freedom on a working plane with dimensions of 50x50 micrometers. Because the control performance of a micro-manipulator severely deteriorates due to the hysteresis effect of PEAs, a neural network (NN) based position control is proposed in this study to improve control performance. A simulation model of the micro-manipulator and proposed neural network based control algorithm have been developed in Matlab/Simulink.","PeriodicalId":192217,"journal":{"name":"2008 10th IEEE International Workshop on Advanced Motion Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Neural network based control of micro-manipulator\",\"authors\":\"J. Cas, R. Klobučar, R. Šafarič\",\"doi\":\"10.1109/AMC.2008.4516108\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes a neural network based control approach for position control of a 2DOF micro-manipulator. This micro-manipulator consists of a parallel mechanism, which is fabricated from photo-sensitive micro-structured glass and two piezoelectric actuators (PEA), which actuate the \\\"x\\\" and \\\"y\\\" degrees of freedom on a working plane with dimensions of 50x50 micrometers. Because the control performance of a micro-manipulator severely deteriorates due to the hysteresis effect of PEAs, a neural network (NN) based position control is proposed in this study to improve control performance. A simulation model of the micro-manipulator and proposed neural network based control algorithm have been developed in Matlab/Simulink.\",\"PeriodicalId\":192217,\"journal\":{\"name\":\"2008 10th IEEE International Workshop on Advanced Motion Control\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-03-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 10th IEEE International Workshop on Advanced Motion Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2008.4516108\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 10th IEEE International Workshop on Advanced Motion Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2008.4516108","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper describes a neural network based control approach for position control of a 2DOF micro-manipulator. This micro-manipulator consists of a parallel mechanism, which is fabricated from photo-sensitive micro-structured glass and two piezoelectric actuators (PEA), which actuate the "x" and "y" degrees of freedom on a working plane with dimensions of 50x50 micrometers. Because the control performance of a micro-manipulator severely deteriorates due to the hysteresis effect of PEAs, a neural network (NN) based position control is proposed in this study to improve control performance. A simulation model of the micro-manipulator and proposed neural network based control algorithm have been developed in Matlab/Simulink.
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