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研究了将一种采用两个平行配置的压电陶瓷的尺蠖运动式微小机器人应用于显微操作的方法,探讨了机器人实现其搭载的微操作工具在显微视场范围内作近似正交运动的方式,在机器人本体运动学模型基础上,利用坐标变换法对微操作工具末端进行运动学建模并对模型参数进行最小二乘法辨识,设计了线性二次型最优控制器,实现了微操作工具末端在显微视场下位置控制。仿真结果表明了这种微小机器人用于显微操作的可行性。
In this paper, a micromechanical method of micromechanical operation of a micromotion manipulator using two piezoceramics in parallel configuration has been studied. It is discussed that the micromanipulation tools of the robot to carry it are approximately orthogonal to each other in the microscopic field of view Based on the kinematic model of robot, this paper uses the coordinate transformation method to model the end of the micromanipulation tool and identifies the model parameters by the least square method. The linear quadratic optimal controller is designed and the micro Operation tool end position control in micro field of view. Simulation results show the feasibility of this micro-robot for micromanipulation.