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

被引：0

作者：

Olofsson, Bjorn ^{[1
]}

Sornmo, Olof ^{[1
]}

Schneider, Ulrich ^{[2
]}

Robertsson, Anders ^{[1
]}

Puzik, Arnold ^{[2
]}

Johansson, Rolf ^{[1
]}

机构：

[1] Lund Univ, LTH, Dept Automat Control, SE-22100 Lund, Sweden

[2] Fraunhofer Inst Mfg & Engn, D-70569 Stuttgart, Germany

来源：

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年

关键词：

IDENTIFICATION; HYSTERESIS; ALGORITHMS; SYSTEMS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method for modeling and control of a piezo-actuated high-dynamic compensation mechanism for usage together with an industrial robot during a machining operation, such as milling in aluminium. The machining spindle was attached to the compensation mechanism and the robot held 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. Results from experiments performed on a prototype of the compensation mechanism are also provided.

引用

页数：6

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