End-Point Control of Fast and Precise Macro/Micro-Manipulators
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Author / Producer
Date
1998
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
This paper presents a high performance macro/micro-manipulator architecture for rapid and precise positioning operations. The control approach si based on end-point position measurements in a limited range. Since the macro-manipulator can't be controlled precisely at high speed, due to structure and joint flexibility, the micro-manipulator is controlled to correct possible misalignments between the end-point relative to the target and also to compensate for the vibrations occurring at end-point, thus improving the accuracy and decreasing the cycle time.
First the paper presents the design and the performance of the voice-coil micro-manipulator that we have developed. The system achieves an accuracy of 1µm and a settling time of 15 ms. Secondly, an end-point position control strategy for the macro/micro-manipulator that compensates for the oscillations measured at end-point is presented. In particular, the controller of the micro-manipulator accounts for the interaction with the macro-manipulator. Finally, experimental results demonstrating the efficiency of the method are presented.
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Publication status
published
External links
Book title
The Fourth International Conference on Motion and Vibration Control. Proceedings
Journal / series
Volume
3
Pages / Article No.
883 - 888
Publisher
Institute of Robotics, ETH Zurich
Event
Fourth International Conference on Motion and Vibration Contro (MOVIC)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Macro/micro-manipulator; End-point sensing; Local actuation; Vibration compensation
Organisational unit
03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
Notes
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