Dual-stage Soft Landing for a Pick-and-place Manipulator
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00356569" target="_blank" >RIV/68407700:21230/20:00356569 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2020.12.2131" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2020.12.2131</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2020.12.2131" target="_blank" >10.1016/j.ifacol.2020.12.2131</a>
Alternative languages
Result language
angličtina
Original language name
Dual-stage Soft Landing for a Pick-and-place Manipulator
Original language description
In this paper we document a systematic solution to a particular motion control problem called soft landing encountered in the design of pick-and-place machines for the semiconductor industry. The problem has already been studied for a single actuator, and a solution for the case of voice-coil motors has already been implemented in commercial drivers. Here we investigate a more complex setup consisting of two translation stages, which make the problem over-actuated; furthermore, the inner stage (actuated by a voice coil motor) is preloaded with a weight- compensating spring. Our systematic approach is based on the concept of reaction force observer. Its functionality is demonstrated using numerical simulations and laboratory experiments. We compare the proposed method with a baseline solution based on a simple extension of an existing method. A related Simulink model and Matlab scripts are available for free download to help reproduce the results. Copyright (C) 2020 The Authors.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/FV20403" target="_blank" >FV20403: Control Platform for High-Accuracy Microelectronics Assembly</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IFAC PAPERSONLINE - 21st IFAC World Congress on Automatic Control
ISBN
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ISSN
2405-8963
e-ISSN
2405-8963
Number of pages
7
Pages from-to
9061-9067
Publisher name
Elsevier
Place of publication
Amsterodam
Event location
ELECTR NETWORK - Berlin
Event date
Jul 11, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000652593100048