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Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots

Olofsson, Björn LU ; Sörnmo, Olof LU ; Schneider, Ulrich; Robertsson, Anders LU ; Puzik, Arnold and Johansson, Rolf LU (2011) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011) In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 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)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
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)
external identifiers
  • wos:000297477505010
  • scopus:84455179712
language
English
LU publication?
yes
id
a6b60254-8a52-4d37-a0a2-9e0aa67622a6 (old id 2202318)
date added to LUP
2011-11-03 15:50:04
date last changed
2017-04-16 04:38:16
@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},
  year         = {2011},
}