Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2011-09-25
Språk
Engelska
Sidor
4704-4709
Publikation/Tidskrift/Serie
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Fulltext
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Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)
Conference date
2011-09-25
Conference place
San Francisco, CA, United States
Aktiv
Published
Projekt
- COMET
- RobotLab LTH
Forskningsgrupp
- LCCC