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Modeling and control of a piezo-actuated high-dynamic compensation mechanism for industrial robots

: Olofsson, Björn; Sörnmo, Olof; Schneider, Ulrich; Robertsson, Anders; Puzik, Arnold; Johansson, Rolf

Preprint urn:nbn:de:0011-n-1858553 (928 KByte PDF)
MD5 Fingerprint: d62bf143d207450898fdeace0b61880e
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Created on: 23.11.2011

Amato, N.M. ; Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan -RSJ-:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 : San Francisco, California, USA, 25 - 30 September 2011
Piscataway/NJ: IEEE, 2011
ISBN: 978-1-61284-455-8
ISBN: 978-1-61284-454-1
pp.4704-4709 (Vol.6)
International Conference on Intelligent Robots and Systems (IROS) <2011, San Francisco/Calif.>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Piezo-Aktoren; Piezoantrieb; industrial robot; Sensor; Industrieroboter

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.