...Qingsong Xu; Yangmin Li This paper presents a new control scheme for the hysteresis compensation and precise positioning of a piezoelectrically actuated micromanipulator. The scheme employs an inverse Dahl model-based feedforward in combination with a repetitive proportional-integral-derivative...

... the dynamic properties of the device. Numerical simulations are compared with experimental results. 29 05 2003 07 11 2004 micromanipulators actuators design engineering manipulator kinematics numerical analysis mechanical testing The studied manipulators were fabricated from...

... control system synthesis micromanipulators redundant manipulators flexible manipulators manipulator dynamics position control stability 2 In many practical applications involving long-reach manipulation it is desirable to have a smaller manipulator, called a micromanipulator, located...