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

Summary, in English

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: Björn Olofsson; Olof Sörnmo; Ulrich Schneider; Anders Robertsson; Arnold Puzik; Rolf Johansson
• Department/s: Department of Automatic Control; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publishing year: 2011-09-25
• Language: English
• Pages: 4704-4709
• Publication/Series: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
• Full text: - 758 kB; Download statistics
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Control Engineering
• Conference name: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)
• Conference date: 2011-09-25
• Conference place: San Francisco, CA, United States
• Status: Published
• Project: COMET; RobotLab LTH
• Research group: LCCC