Control methods for piezomechanical robots moving in trajectories: Software and hardware

Practical application of smart materials for moving robots enabled to solve difficult mechatronic positioning and movement problems. Movement in such systems is generated using piezoelectrical devices. Therefore, classical trajectories formation and control methods are not suitable. For these specific problems positioning and piezorobot control methods and algorithms are created. In order to practically realize these algorithms a novel software and hardware is needed. This article presents movement formation methods and movement in predefined trajectory on some plane algorithms for cylindrical piezorobot. It is shown how they can be implemented using Matlab and LabVIEW software. Trajectory movement is controlled using special software and specifically designed motion control system. Control signal is amplified by electronics hardware. It also matches industrial PXI computer to piezorobot's motion actuator which requires high voltage signal and capacitance load. The path of piezorobot is registered using image processing and computer vision technologies. The paper presents experimental results of piezorobot movement when different input data set applied. Piezorobot point-to-point movement on plane without rotation is analyzed. Such movement is created when only one electrode is excited at a time. This generates forces at every segment and their cumulative force ensures precise control of piezorobot movement direction and speed.