- Conference Paper
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. Show more
Book titleThe Fourth International Conference on Motion and Vibration Control. Proceedings
Pages / Article No.
PublisherInstitute of Robotics, ETH Zurich
SubjectMacro/micro-manipulator; End-point sensing; Local actuation; Vibration compensation
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
Related publications and datasets
Is part of: http://hdl.handle.net/20.500.11850/81690
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