Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Increasing the accuracy for a piezo-actuated micro manipulator for industrial robots using model-based nonlinear control

: Olofsson, Björn; Sörnmo, Olof; Schneider, Ulrich; Barho, Marc; Robertsson, Anders; Johansson, Rolf


International Federation of Automatic Control -IFAC-:
10th IFAC Symposium on Robot Control, SYROCO 2012 : Dubrovnik, Croatia, 5 - 7 September 2012
Red Hook, NY: Curran, 2012
ISBN: 978-1-62276-367-2
ISBN: 978-3-902823-11-3
Symposium on Robot Control (SYROCO) <10, 2012, Dubrovnik>
European Commission EC
FP7-NMP; 258769; COMET
Fraunhofer IPA ()
industrial robot; machining; Piezoaktor; Piezoantrieb; piezoelectrical actuator; Industrieroboter; Robotersteuerung; Bearbeitungsgenauigkeit; Manipulator; Positionieren

We consider the problem of modeling and control of the nonlinear dynamics of a micro manipulator, utilized for machining operations in combination with industrial robots. Position control of the micro manipulator is a challenging problem because of the actuation principle, which is based on piezo-actuators with inherent nonlinear behavior. The major nonlinearities in the manipulator are identified and explicitly modeled in this paper. Different model structures are outlined and subsequent identification experiments are performed and evaluated. The obtained models form the basis for a combined feedforward and feedback control scheme for accurate position control. Experimental results obtained with the developed control scheme are presented and discussed. We show that the accuracy of the controller is increased significantly with the proposed scheme, compared to a linear controller.