Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots
(2011) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011) p.4704-4709- Abstract
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2202318
- author
- Olofsson, Björn LU ; Sörnmo, Olof LU ; Schneider, Ulrich ; Robertsson, Anders LU ; Puzik, Arnold and Johansson, Rolf LU
- organization
- publishing date
- 2011-09-25
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
- pages
- 4704 - 4709
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)
- conference location
- San Francisco, CA, United States
- conference dates
- 2011-09-25
- external identifiers
-
- wos:000297477505010
- scopus:84455179712
- project
- COMET
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=bo+IROS2011 project=comet,robot
- id
- a6b60254-8a52-4d37-a0a2-9e0aa67622a6 (old id 2202318)
- date added to LUP
- 2016-04-04 14:01:20
- date last changed
- 2024-01-19 05:17:33
@inproceedings{a6b60254-8a52-4d37-a0a2-9e0aa67622a6, abstract = {{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.}}, author = {{Olofsson, Björn and Sörnmo, Olof and Schneider, Ulrich and Robertsson, Anders and Puzik, Arnold and Johansson, Rolf}}, booktitle = {{2011 IEEE/RSJ International Conference on Intelligent Robots and Systems}}, language = {{eng}}, month = {{09}}, pages = {{4704--4709}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots}}, url = {{https://lup.lub.lu.se/search/files/8475752/2202319.pdf}}, year = {{2011}}, }