DocumentCode :
250326
Title :
Modeling and primary experiment of a 3-axis PID control with 50 nm resolution for a holonomic precision inchworm robot
Author :
Yatsurugi, M. ; Oi, A. ; Fuchiwaki, Ohmi ; Higuchi, Tatsuro
Author_Institution :
Honda Motor Co., Japan
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
2552
Lastpage :
2558
Abstract :
In this paper, we describe design and development of a 3-axis proportional-integral-derivative (PID) controller for a holonomic precision inchworm robot. The mechanism has two Y-shaped electromagnets and six piezoelectric actuators (PAs) for obtaining 3-degrees-of-freedom (3DoF) motion on well-polished ferromagnetic surfaces. To measure its 3DoF position simultaneously, an integrated 3DoF inner position sensor composed of 4 linear encoders are developed. In experiments, we have checked that this arrangement of the encoders is valid for measuring the 3DoF motion under a condition without disturbance. To be robust against the disturbance, we also discuss requirement of an acceleration feedforward controller with 3 motion sensors to detect disturbance and slips of supporting electromagnet. This paper is first article which demonstrates simultaneous 3-axis PID control with nanometer-scale positioning resolution of miniature mobile robot driven by PAs. We also discuss about the future direction of the realization of compact, precise, fast, flexible, and energy-efficient mobile robotic factory.
Keywords :
acceleration control; electromagnets; feedforward; mobile robots; piezoelectric actuators; three-term control; 3-axis PID control; PA; Y-shaped electromagnets; acceleration feedforward controller; disturbance detection; holonomic precision inchworm robot; linear encoders; miniature mobile robot; motion sensors; nanometer-scale positioning resolution; piezoelectric actuators; position sensor; proportional-integral-derivative controller; slip detection; well-polished ferromagnetic surfaces; Actuators; PD control; Robot sensing systems; Semiconductor device measurement; Springs; Vibrations;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907216
Filename :
6907216
Link To Document :
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