• 산업기술연구
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• 제24권B호
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• pp.207-214
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• 2004

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It's anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1995년도 춘계학술대회 논문집
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• pp.40-62
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• 1995

A micro positioning system using piezoelectric actuators have very wide application region such as ultra-precision machine tool optical device measurement system. In order to keep a high precision displacement resolution it to useful to take a position sensor and feedback of the error. From the practical point of view high-resolution displacement sensor systems are very expensive and it is difficult to make such a sensitive sensor work properly in a poor operational environment of industry. In this study a piezo-electric micro-depth control system which does not require position sensor but piezoelectric voltage feedback has been developed. It is driven by hysteresis-considering reference input voltage calculated in advance and actuator/sensor characteristics of piezoelectric materials. From the result of experiments a fast and stable response of micro-depth control system has been achieved and an efficient technique to control the piezoelectric actuator suggested.