Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots
Publikation/Tidskrift/Serie: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.
This paper presents a method for modeling and control of a piezo-actuated high-dynamic compensation mechanism (HDCM) for usage together with an industrial robot during a machining operation, such as milling in aluminum. The spindle is attached to the compensation mechanism and the robot holds the workpiece. Due to the inherent resonant character of mechanical constructions of this type, and the nonlinear phenomena appearing in piezo actuators, control of the compensation mechanism is a challenging problem. This paper presents models of the construction, experimentally identified using subspace-based identification methods. A subsequent control scheme, based on the identified models, utilizing state feedback for controlling the position of the spindle is outlined. Experimental results performed on a prototype of the HDCM are also provided.
- Control Engineering
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)