Simultaneous Actuation and Force Estimation Using Piezoelectric Actuators

@article{Ronkanen2007SimultaneousAA,
  title={Simultaneous Actuation and Force Estimation Using Piezoelectric Actuators},
  author={Pekka Ronkanen and Pasi J. Kallio and H. Koivo},
  journal={2007 International Conference on Mechatronics and Automation},
  year={2007},
  pages={3261-3265}
}
This paper introduces a force estimation method that enables simultaneous actuation and force estimation using piezoelectric actuators. The method combines an actuator input voltage and a current together with a displacement measurement to a force estimator. The force estimator contains a nonlinear actuator model to approximate the present external force… CONTINUE READING