Szufnarowski, Filip: Dynamic modeling and bioinspired control of a walking piezoelectric motor. 2013
Inhalt
- Acknowledgments
- List of publications
- General abstract
- 1 Introduction
- MODELING PART
- 2 Fundamentals of piezoelectric technology
- 2.1 Introduction
- 2.2 Piezoelectric effect
- 2.2.1 History of discovery
- 2.2.2 Modern piezoelectric ceramics
- 2.2.3 Linear theory of piezoelectricity
- 2.3 Piezoelectric motors
- 2.4 The walking piezo motor
- 3 Physical model of motor dynamics
- 3.1 Introduction
- 3.2 Leg kinematics
- 3.3 Leg dynamics
- 3.4 Motor dynamics
- 3.5 Parameter optimization
- 3.6 Discussion
- 4 Gray-box identification of motor dynamics
- CONTROL PART
- 5 Bioinspired generation of optimal driving waveforms
- 5.1 Introduction
- 5.2 Leg coordination rules
- 5.3 Trajectory generation
- 5.4 Parameter optimization
- 5.5 Discussion
- 6 Frequency matching in waveform generation
- 6.1 Introduction
- 6.2 Waveform generating electronics
- 6.3 Continued fractions approach in frequency matching
- 6.4 Discussion
- 7 Dynamic load compensation and force control
- APPLICATION PART
- 8 Muscle-like actuation of an antagonistic joint
- 8.1 Introduction
- 8.2 Virtual muscles
- 8.3 Antagonistic joint architecture
- 8.4 Position control scenario
- 8.5 Discussion
- 9 Discussion
- A Appendix A
- B Appendix B
- B.1 Bézout's identity
- B.2 Euclidean algorithm and continued fractions
- B.3 Algorithmic solution to Bézout's identity
- C Appendix C
- D Appendix D
- List of figures
- List of tables
- Bibliography