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

Björn Olofsson, Olof Sörnmo, Ulrich Schneider, Anders Robertsson, Arnold Puzik, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingResearchpeer-review

19 Citations (SciVal)
176 Downloads (Pure)

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.
Original languageEnglish
Title of host publication2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages4704 - 4709
Publication statusPublished - 2011 Sep 25
EventIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011) - San Francisco, CA, United States
Duration: 2011 Sep 25 → …

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)
Country/TerritoryUnited States
CitySan Francisco, CA
Period2011/09/25 → …

Bibliographical note

key=bo+IROS2011
project=comet,robot

Subject classification (UKÄ)

  • Control Engineering

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