High-precision positioning considering suppression of resonant vibration modes by strain feedback

Seki, Kenta; Mochizuki, Keisuke; Iwasaki, Makoto; Hirai, Hiromu

doi:10.1109/iecon.2009.5415289

Cited by 19 publications

(6 citation statements)

References 12 publications

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“…Singer et al [1], Economou et al [2], Baumgart et al [3], Cole et al [4]- [6] research the problem of suppressing the residual vibration of the flexible links of manipulators, with the input shaping or low-pass filtering method respectively. Luo [7], Ohta et al [8], Seki et al [9] use the method of strain feedback to control the vibration of the flexible links. Guo et al [10] research the vibration reduction problem of flexible joints with harmonic reducers.…”

Section: Introductionmentioning

confidence: 99%

General motion planning method for manipulators with no impact

Chen

Zhang

Cui

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation amount of motion planning is reduced, while the result is still with no impact. The motion planning experiments driving the manipulator's end effector to run a three-dimensional arc are carried out with a self-developed 6-DOF manipulator system. Through the experiments, it is verified that the motion planning method proposed is feasible and has good effects. I. INTRODUCTIONanipulators have already been used very widely in automation in modern times. The structures of traditional industrial manipulators are all very bulky and heavy. And the ratio of the structural weight and the payload is very large. The purpose of this kind of design is to give manipulators sufficient rigidity to reduce vibration during movement. But the bulky, heavy design also results in low efficiency, high energy consumption and easy occurring of personal injury accidents. Currently, manipulators are experiencing a light-weight trend. Light-weight designs can enhance the ratio of the payload and the self-weight of manipulators, lower the driving power and the bulk of joint motors and greatly increase the safety of manipulator operation. Although there are many advantages of light-weight designs, the lighter weight will increase the flexibility of manipulators significantly, which will make vibration problems stand out. This raises new challenges of manipulator control to ensure operation accuracy. Peng Chen is with University of Chinese Academy of Sciences, Beijing, 100049, China. the conclusion that the joint vibration can be suppressed using vibration torque feedback PD controller to control the output torque of flexible joints. Shan et al [11], Cao et al [12] research active vibration control of flexible manipulators on the basis of piezoelectric materials. They control the piezoelectric actuators with fuzzy control methods. And the link vibration of 2-DOF flexible link manipulators is suppressed successfully.About the vibration control of manipulators, another straightforward idea is to minimize the introduction of vibration. This can be achieved through the motion planning method. The field of motion planning of manipulators has also been researched by many scholars. Zu et al [13], Yang et al [14], Chen et al [15] research the inverse kinematics optimization of redundant manipulators. These researches mainly focus on how to optimize manipulator trajectories, including singularity avoidance, joint limitation avoidance and obstacle avoidance. Fu et al [16], [17], Ju et al [18] research in the field of combining intelligent algorithms with the polynomial interpolation method. The purpose of their researches is to minimize the P-to-P ...

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Section: Introductionmentioning

confidence: 99%

General motion planning method for manipulators with no impact

Chen

Zhang

Cui

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…From the figure, the mechanism includes the primary vibration mode (1300 Hz), the 2nd vibration mode (4400 Hz), and a dead time component due to the current control delay, affecting the positioning performance. These vibration modes are caused by twist of the shaft (6) . Fig.…”

Section: Plant Characteristicmentioning

confidence: 99%

“…In Fig. 15, H indicates a holder which consists of an A/D converter, and K b can be given as follows based on (6).…”

Section: Signal Isolation Using Bridge Circuitmentioning

confidence: 99%

“…5 shows a block diagram of a 2-degree-of-freedom (2DOF) positioning control system based on the final-state control (FSC) (6) (19) (20) , where P r and P v : plant systems of laser irradiation positions (mirror rotational and vertical direction displacements y r and y v as shown in Fig. 2, both in the dimension of displacement converted into [m]) for control input u, C: feedback compensator consisting of a phase lead-lag filter and notch filters (6) , P s : nominal discrete transfer function for P s including the primary and 2nd twist vibration modes (1300 and 4400 Hz), r: motor angle reference corresponding to laser irradiation position (rotational direction displacement The desired control specification for the positioning system is given as a point-to-point positioning within the settling time of 2.0 ms for a typical positioning stroke R (laser irradiation position) of 1.5 mm. The settling time means the time from when a motion starts till when the positioning error falls within the target settling accuracy ± 1 μm.…”

Section: Positioning Control Systemmentioning

confidence: 99%

“…Fig. 2 shows a configuration of positioning device for galvano scanner as an experimental setup (4)- (6) . The galvano scanner is composed of a servo motor with a mirror, where motor angular position y s (in the dimension of angle [rad]) is detected by a sensor and is transferred into a digital signal processor (DSP) controller through an interface with the sampling period of 20 μs.…”

Section: Introductionmentioning

confidence: 99%

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Improvement of Bending Vibration Suppression Performance for Galvano Mirror by Self-Sensing Actuation

Seki

Iwasaki

2014

IEEJ Journal IA

Self Cite

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This paper presents a method for suppressing the bending vibration of galvano mirrors used in laser positioning systems. Fast and highly precise positioning of the mirror is vitally important for these systems. Thus, the flatness of the mirror should be maintained to ensure highly precise laser positioning. However, mechanical resonant vibrations of the mirror, which are excited by the moment force during positioning, lead to residual vibrations after positioning; these vibrations degrade the flatness of the mirror and the laser manufacturing accuracy. In this paper, therefore, a vibration suppression method is proposed in which a piezoelectric element is mounted on the mirror so as to utilize the multifunctionality of the piezoelectric element by applying it as both actuator and sensor in the vibration suppression controller design. The applicability of the proposed approach to industrial galvano scanners has been verified by performing experiments with a prototype.

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