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Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control

In English

Författare

Summary, in English

We consider the problem of modeling and control of the nonlinear dynamics of a micro manipulator, utilized for machining operations in combination with industrial robots. Position control of the micro manipulator is a challenging problem because of the actuation principle, which is based on piezo-actuators with inherent nonlinear behavior. The major nonlinearities in the manipulator are identified and explicitly modeled in this paper. Different model structures are outlined and subsequent identification experiments are performed and evaluated. The obtained models form the basis for a combined feedforward and feedback control scheme for accurate position control. Experimental results obtained with the developed control scheme are presented and discussed. We show that the accuracy of the controller is increased significantly with the proposed scheme, compared to a linear controller.

Publiceringsår

2012

Språk

Engelska

Sidor

277-282

Publikation/Tidskrift/Serie

IFAC Proceedings Volumes

Volym

45

Issue

22

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

10th International IFAC Symposium on Robot Control

Conference date

2012-09-05

Conference place

Dubrovnik, Croatia

Status

Published

Projekt

  • COMET
  • LU Robotics Laboratory
  • COMET
  • LU Robotics Laboratory

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3