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

Olofsson, Björn LU ; Sörnmo, Olof LU ; Schneider, Ulrich; Barho, Marc; Robertsson, Anders LU and Johansson, Rolf LU (2012) 10th International IFAC Symposium on Robot Control In 10th IFAC Symposium on Robot Control p.277-282
Abstract
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... (More)
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. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
10th IFAC Symposium on Robot Control
pages
277 - 282
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • Scopus:84881011258
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00116
language
English
LU publication?
yes
id
189392f7-38f4-4460-ab9f-f711bcc4af5c (old id 2834864)
date added to LUP
2012-06-25 09:00:26
date last changed
2016-10-13 04:50:41
@misc{189392f7-38f4-4460-ab9f-f711bcc4af5c,
  abstract     = {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.},
  author       = {Olofsson, Björn and Sörnmo, Olof and Schneider, Ulrich and Barho, Marc and Robertsson, Anders and Johansson, Rolf},
  isbn         = {978-3-902823-11-3},
  language     = {eng},
  pages        = {277--282},
  publisher    = {ARRAY(0xaf40ed8)},
  series       = {10th IFAC Symposium on Robot Control},
  title        = {Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00116},
  year         = {2012},
}