6 Control of Coarse/Fine Dual-Stage Positioning System

2005 ◽  
pp. 113-130
Author(s):  
SangJoo Kwon ◽  
Wan Kyun Chung
Keyword(s):  
Positioning System ◽  
Dual Stage

Design of a Flexure-Based Active Fixture System for Precision Robotic Deburring

2018 ◽  
Author(s):  
Jacob Beck ◽  
Burak Sencer ◽  
Ravi Balasubramanian ◽  
Jordan Meader
Keyword(s):  
High Resolution ◽  
Force Control ◽  
Cutting Forces ◽  
Robotic Manipulators ◽  
Positioning System ◽  
Motion Generation ◽  
Positioning Accuracy ◽  
High Compliance ◽  
Dual Stage ◽  
Fixture System

This paper presents on the design, prototyping and testing of a flexure-based active workpiece fixture system for precision robotic deburring. Current industrial robotic manipulators suffer from poor positioning accuracy, which makes precision tasks such as deburring, polishing and grinding challenging. Together, the robotic manipulator and the proposed active work fixture will create a dual-stage positioning system for precision tasks where position/force control is crucial. The main application is robotic deburring, which demands positioning accuracy and high compliance over large cutting forces. This first prototype active fixture system is designed as a planar motion table that is supported by parallel flexures, driven by voice-coil actuators, and uses high-resolution laser displacement pickups facilitate accurate motion generation with great backdrivability for force control. The theory behind the proposed design is shown, and a prototype is then used to validate performance. Overall the prototype flexure stage achieves a total stroke of 1 mm and a bandwidth of 21 Hz.

Design, identification, and control of a linear dual-stage actuation positioning system

2018 ◽  
Vol 355 (12) ◽  
pp. 5018-5036
Author(s):  
J. Zheng ◽  
M. Fu ◽  
R. Lu ◽  
S. Xie
Keyword(s):  
Positioning System ◽  
Dual Stage ◽  
And Control

Design and control of a rotary dual-stage actuator positioning system

Mechatronics ◽  
2011 ◽  
Vol 21 (6) ◽  
pp. 1003-1012 ◽  
Author(s):  
Jinchuan Zheng ◽  
Aurélio Salton ◽  
Minyue Fu
Keyword(s):  
Positioning System ◽  
Dual Stage ◽  
And Control ◽  
Dual Stage Actuator

High-precision Positioning System using a Low-stiffness Dual Stage Actuator

2013 ◽  
Vol 46 (5) ◽  
pp. 20-27 ◽  
Author(s):  
Shingo Ito ◽  
Juergen Steininger ◽  
Peter I. Chang ◽  
Georg Schitter
Keyword(s):  
High Precision ◽  
Positioning System ◽  
Precision Positioning ◽  
Dual Stage ◽  
Low Stiffness ◽  
Dual Stage Actuator

scholarly journals High-Precision Tracking of Periodic Signals: a Macro-Micro Approach with Quantized Feedback

2021 ◽  
Author(s):  
Aurelio Salton ◽  
Jeferson Vieira Flores ◽  
Jinchuan zheng ◽  
Minyue Fu
Keyword(s):  
High Precision ◽  
Design Method ◽  
Tracking Error ◽  
Periodic Signal ◽  
Positioning System ◽  
Quantization Level ◽  
Positioning Systems ◽  
Quantized Feedback ◽  
Asymptotic Tracking ◽  
Dual Stage

<div>This paper proposes a novel control design method for high-precision positioning systems. The method aims to eliminate the tracking error caused by measurement quantization present in positioning systems with optical encoders. By employing a combined internal model based feedback and quantized feedforward design, we are able to make the output of the positioning system asymptotically track any input signal with one or more sinusoidal components of known frequencies and a possible constant component. When combined with a micro actuator, the resulting dual-stage positioning system is able to track any continuous periodic signal with a known period. Besides theoretical guarantees, the proposed design is validated experimentally and proved able to achieve asymptotic tracking error below ?1 ?m when subject to a sensor quantization level of 5 ?m.</div>

scholarly journals High-Precision Tracking of Periodic Signals: a Macro-Micro Approach with Quantized Feedback

2021 ◽  
Author(s):  
Aurelio Salton ◽  
Jeferson Vieira Flores ◽  
Jinchuan zheng ◽  
Minyue Fu
Keyword(s):  
High Precision ◽  
Design Method ◽  
Tracking Error ◽  
Periodic Signal ◽  
Positioning System ◽  
Quantization Level ◽  
Positioning Systems ◽  
Quantized Feedback ◽  
Asymptotic Tracking ◽  
Dual Stage

<div>This paper proposes a novel control design method for high-precision positioning systems. The method aims to eliminate the tracking error caused by measurement quantization present in positioning systems with optical encoders. By employing a combined internal model based feedback and quantized feedforward design, we are able to make the output of the positioning system asymptotically track any input signal with one or more sinusoidal components of known frequencies and a possible constant component. When combined with a micro actuator, the resulting dual-stage positioning system is able to track any continuous periodic signal with a known period. Besides theoretical guarantees, the proposed design is validated experimentally and proved able to achieve asymptotic tracking error below ?1 ?m when subject to a sensor quantization level of 5 ?m.</div>

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