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

Summary, in English

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: Björn Olofsson; Olof Sörnmo; Ulrich Schneider; Marc Barho; Anders Robertsson; Rolf Johansson
• Department/s: Department of Automatic Control; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publishing year: 2012
• Language: English
• Pages: 277-282
• Publication/Series: IFAC Proceedings Volumes
• Volume: 45
• Issue: 22
• Full text: - 540 kB; Download statistics
• Links: http://dx.doi.org/10.3182/20120905-3-HR-2030.00116
• Document type: Conference paper
• Topic: Control Engineering
• Conference name: 10th International IFAC Symposium on Robot Control
• Conference date: 2012-09-05
• Conference place: Dubrovnik, Croatia
• Status: Published
• Project: COMET; LU Robotics Laboratory; COMET; LU Robotics Laboratory
• Research group: LCCC
• ISBN/ISSN/Other: ISSN: 1474-6670; ISBN: 978-3-902823-11-3