@inproceedings{577897cc43fd43eaad64d8486d89d90a,
title = "Control modeling of a micro-manipulator for human scale tele-operation system",
abstract = "In this paper a human scale tele-operation system was introduced. The micro operator with 6 degrees of freedom is the most accurate part of the system. The micro operator is driven by 6 piezoelectric actuators. Because of the non-linear hysteretic restoring force, the accuracy of the micro operator couldn't get a very high level. Before compensation of the non-linear hysteretic restoring force, to describe the micro operator with a mathematic model is very important. In the paper, the authors build the micro operator's model with Bouc-Wen model. Then with a genetic algorithm the parameters in the mathematic model were identified. At last by experiments the identified parameters were tested and verified.",
keywords = "Bouc-Wen model, Genetic algorithm, Human scale, Micro operation",
author = "Nan Xiao and Shuxiang Guo",
year = "2010",
doi = "10.1109/IROS.2010.5648850",
language = "English",
isbn = "9781424466757",
series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
pages = "6125--6130",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
note = "23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",
}