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

Björn Olofsson; Olof Sörnmo; Ulrich Schneider; Marc Barho; Anders Robertsson; Rolf Johansson

doi:10.3182/20120905-3-HR-2030.00116

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

Björn Olofsson, Olof Sörnmo, Ulrich Schneider, Marc Barho, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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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.

Original language	English
Title of host publication	10th IFAC Symposium on Robot Control
Pages	277-282
Number of pages	6
Volume	45
DOIs	https://doi.org/10.3182/20120905-3-HR-2030.00116
Publication status	Published - 2012
Event	10th International IFAC Symposium on Robot Control - Dubrovnik, Croatia Duration: 2012 Sept 5 → …

Publication series

Name	IFAC Proceedings Volumes
Number	22
Volume	45
ISSN (Electronic)	1474-6670

Conference

Conference	10th International IFAC Symposium on Robot Control
Country/Territory	Croatia
City	Dubrovnik
Period	2012/09/05 → …

Bibliographical note

project=comet,robot

Subject classification (UKÄ)

Control Engineering

Access to Document

10.3182/20120905-3-HR-2030.00116

olof_etal2012SYSROCO

Cite this

Olofsson, B., Sörnmo, O., Schneider, U., Barho, M., Robertsson, A., & Johansson, R. (2012). Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control. In 10th IFAC Symposium on Robot Control (Vol. 45, pp. 277-282). (IFAC Proceedings Volumes; Vol. 45, No. 22). https://doi.org/10.3182/20120905-3-HR-2030.00116

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

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 = "Bj{\"o}rn Olofsson and Olof S{\"o}rnmo and Ulrich Schneider and Marc Barho and Anders Robertsson and Rolf Johansson",

note = "project=comet,robot; 10th International IFAC Symposium on Robot Control ; Conference date: 05-09-2012",

year = "2012",

doi = "10.3182/20120905-3-HR-2030.00116",

language = "English",

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Olofsson, B, Sörnmo, O, Schneider, U, Barho, M, Robertsson, A & Johansson, R 2012, Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control. in 10th IFAC Symposium on Robot Control. vol. 45, IFAC Proceedings Volumes, no. 22, vol. 45, pp. 277-282, 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, 2012/09/05. https://doi.org/10.3182/20120905-3-HR-2030.00116

Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control. / Olofsson, Björn; Sörnmo, Olof; Schneider, Ulrich et al.
10th IFAC Symposium on Robot Control. Vol. 45 2012. p. 277-282 (IFAC Proceedings Volumes; Vol. 45, No. 22).

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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AB - 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.

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

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

Abstract

Publication series

Conference

Bibliographical note

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

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