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dc.contributor.author
Hodac, Agathe
dc.contributor.author
Siegwart, Roland
dc.contributor.editor
Schweitzer, Gerhard
dc.contributor.editor
Siegwart, Roland
dc.contributor.editor
Cattin, Philippe C.
dc.date.accessioned
2021-08-10T07:16:37Z
dc.date.available
2017-06-11T06:35:45Z
dc.date.available
2021-08-09T12:24:01Z
dc.date.available
2021-08-10T07:16:37Z
dc.date.issued
1998
dc.identifier.uri
http://hdl.handle.net/20.500.11850/82115
dc.description.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.
en_US
dc.language.iso
en
en_US
dc.publisher
Institute of Robotics, ETH Zurich
en_US
dc.subject
Macro/micro-manipulator
en_US
dc.subject
End-point sensing
en_US
dc.subject
Local actuation
en_US
dc.subject
Vibration compensation
en_US
dc.title
End-Point Control of Fast and Precise Macro/Micro-Manipulators
en_US
dc.type
Conference Paper
ethz.book.title
The Fourth International Conference on Motion and Vibration Control. Proceedings
en_US
ethz.journal.volume
3
en_US
ethz.pages.start
883
en_US
ethz.pages.end
888
en_US
ethz.event
Fourth International Conference on Motion and Vibration Contro (MOVIC)
en_US
ethz.event.location
Zurich, Switzerland
en_US
ethz.event.date
August 25-28, 1998
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.relation.isPartOf
20.500.11850/81690
ethz.date.deposited
2017-06-11T06:36:54Z
ethz.source
ECIT
ethz.identifier.importid
imp593651c14db7824151
ethz.ecitpid
pub:129356
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-13T16:16:56Z
ethz.rosetta.lastUpdated
2022-03-29T11:00:01Z
ethz.rosetta.versionExported
true
ethz.COinS
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