Position Control of a Compliant Mechanism Based Micromanipulator

  title={Position Control of a Compliant Mechanism Based Micromanipulator},
  author={Kevin Fite and Michael Goldfarb},
Abstracz This paper addresses the modeling and control of a compliant micromanipulator for use in such$elh as microsurgery, telesurgery, and microassembly, The unique flexure-based manipulator utilizes revolute flexure joints in achieving well-behaved kinematic characteristics, without the backlash and stick-slip phenomena that would otherwise impede precision control. A mathematical model of the micromanipulator is formulated, and a controller for positioning of the manipulator is derived. The… CONTINUE READING