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 IFAC Proceedings Volumes
45(22).
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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2834864
- author
- Olofsson, Björn
LU
; Sörnmo, Olof
LU
; Schneider, Ulrich
; Barho, Marc
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 10th IFAC Symposium on Robot Control
- series title
- IFAC Proceedings Volumes
- volume
- 45
- issue
- 22
- pages
- 6 pages
- conference name
- 10th International IFAC Symposium on Robot Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-09-05
- external identifiers
-
- scopus:84881011258
- ISSN
- 1474-6670
- ISBN
- 978-3-902823-11-3
- DOI
- 10.3182/20120905-3-HR-2030.00116
- project
- COMET
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- project=comet,robot
- id
- 189392f7-38f4-4460-ab9f-f711bcc4af5c (old id 2834864)
- date added to LUP
- 2016-04-04 12:17:11
- date last changed
- 2023-02-15 21:16:11
@inproceedings{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}},
booktitle = {{10th IFAC Symposium on Robot Control}},
isbn = {{978-3-902823-11-3}},
issn = {{1474-6670}},
language = {{eng}},
number = {{22}},
pages = {{277--282}},
series = {{IFAC Proceedings Volumes}},
title = {{Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control}},
url = {{https://lup.lub.lu.se/search/files/5970391/3052604.pdf}},
doi = {{10.3182/20120905-3-HR-2030.00116}},
volume = {{45}},
year = {{2012}},
}