Dual-stage Soft Landing for a Pick-and-place Manipulator

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Dual-stage Soft Landing for a Pick-and-place Manipulator

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Dual-stage Soft Landing for a Pick-and-place Manipulator

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/FV20403" target="_blank" >FV20403: Řídicí platforma pro vysoce přesné osazování mikroelektronických komponent</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IFAC PAPERSONLINE - 21st IFAC World Congress on Automatic Control

ISBN

—

ISSN

2405-8963

e-ISSN

2405-8963

Počet stran výsledku

7

Strana od-do

9061-9067

Název nakladatele

Elsevier

Místo vydání

Amsterodam

Místo konání akce

ELECTR NETWORK - Berlin

Datum konání akce

11. 7. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000652593100048