Title :
Control of a micro positioning system using sensor fusion
Author :
Robl, Christian ; Färber, Georg
Author_Institution :
Inst. for Realtime Comput. Syst., Tech. Univ. Munchen, Germany
Abstract :
The precision of micro assembly requires special tools in order to fulfill the high demands in accuracy and control of the assembly process. Our precise gripper tool with 2 DOF, the micro positioning system (MPS), enables micro assembly with standard industrial robots by compensating for vibrations and inaccuracies of the handling device. The developed control system combines data of three diverse sensors using signal level fusion with synchronized and dead time compensated sensor data to perform the corrective movement. The designed control system of the MPS consists of two closed-loop and one open-loop regulator. The sensor data is synchronized to the control sample rate with a linear first order extrapolation before fixing the data with a Kalman filter. The realized control system reduces vibrations to less than 30%, the position accuracy without disturbances is better than 2 microns according to experimental results. A comparison to a prior approach without sensor fusion shows the simplification of the control design reaching similar or even better results
Keywords :
Kalman filters; closed loop systems; industrial manipulators; microassembling; micromanipulators; micropositioning; sensor fusion; vibration control; closed-loop regulator; corrective movement; linear first order extrapolation; micro positioning system; open-loop regulator; position accuracy; precise gripper tool; signal level fusion; standard industrial robots; Assembly systems; Control systems; Electrical equipment industry; Grippers; Open loop systems; Robot sensing systems; Robotic assembly; Sensor fusion; Sensor systems; Service robots;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897487