Force observation and force/position control of a micromanipulation/microassembly system.

International audienceThe automation of a system dedicated to micromanipulation and microassembly tasks is addresses in this talk. While the system is based on piezoelectric actuators, reduced number of sensors is used due to the lack of convenient force sensors. As a result, observer techniques are used to provide estimate values of the forces. The signals provided by the force observer and by the displacement sensors are afterwards used for a robust feedback control techniques, the aim the being the automation of the micromanipulation/microassembly system. The experimental results prove the efficiency of the combination of observer techniques and the robust control techniques in the microworld applications