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Title: | Cylindrical piezorobot’s trajectory planning and control |
Authors: | Janutėnaitė-Bogdanienė, Jūratė Mačerauskas, Eugenijus Drukteinienė, Asta Kulvietis, Genadijus Bansevičius, Ramutis Petras |
Keywords: | stabilization piezo nano-satellite trajectory control numerical analysis trajectory planning |
Issue Date: | 2017 |
Publisher: | JVE International |
Citation: | Janutėnaitė-Bogdanienė, J.; Mačerauskas, E.; Drukteinienė, A.; Kulvietis, G.; Bansevičius, R. 2017. Cylindrical piezorobot’s trajectory planning and control, Journal of vibroengineering 19(4), 2670–2679 |
Series/Report no.: | 19;4 |
Abstract: | This paper analyses the movement of piezoelectric actuator. The goal of this work was
to create an algorithm for trajectory planning of piezorobot, create a system for trajectory control,
develop software and verify the functioning of the algorithm in practice. Movements of piezorobot
are very small and very frequent therefore it is difficult to measure trajectories using standard
equipment. Design of a novel measurement system and trajectory adjustment was created in this
paper. An experimental system for control and trajectory movement tracking of piezorobot was
developed. It consists of cylindrical piezorobot, control signal forming and image processing
system for trajectory tracking. The cylindrical piezorobot moves in specific trajectories on the
plane and is controlled with sinusoidal signals. They are generated by trajectory forming and
control software using MATLAB and LabVIEW. The control signals are monitored using a
system with oscilloscope. The trajectory of piezorobot was monitored and measured using video
camera and video processing software developed by LabVIEW. The software contains image
processing and object path tracking, and is implemented using LabVEW and MATLAB.
Experimental results showed that trajectories forming algorithm and developed control software
is suitable for controlling robots moving on plane. |
URI: | http://dspace.vgtu.lt/handle/1/3608 |
Appears in Collections: | Moksliniai straipsniai / Research articles
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