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Naslov:Position control with parameter adaptation for a nano-robotic cell
Avtorji:Škorc, Gregor (Avtor)
Čas, Jure (Avtor)
Brezovnik, Simon (Avtor)
Šafarič, Riko (Avtor)
Datoteke:URL http://www.dlib.si/details/URN:NBN:SI:doc-WVBAKROI
 
Jezik:Angleški jezik
Vrsta gradiva:Delo ni kategorizirano (r6)
Tipologija:1.01 - Izvirni znanstveni članek
Organizacija:FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
Opis:This paper describes the development of a nano-assembly system, built up using linear piezo motors. The so-called nano-robotic cell is based on an X/Y manipulator, supported by three serving tables, movable within a Z axis, and aposition controlled using two different types of a bang-bang control methods. The presented application has been developed as a stand-alone application with the LabVIEW Real Time software package, a PCI-7356 servo controller card and a TMCM-090 stepper driver. Our experiments focused on two major problems present during the construction of nano-robotic assembly cells. The first one is a nonlinear characteristic of a linear piezo motor, which makes the use of classical control methods very limited. The second problem appears when a nano-robotic cell needs a bigger working space and at the same time, production demands that the manipulator moves more often over longer distances. In order to position in nano-resolution, the motors have to run at higher resolutions with smaller speeds. Therefore, long distance moves slow down the entire production process. Experiments on this system have shown that positioning within the nano-scale is possible, using a simple control method such as the bang-bang control method. Although positioning using this method is possible, certain limitations and weaknesses exists, making this simple method useless in nano-scale if higher speeds and longer move distances are needed. Certain changes in the basic control algorithm are proposed, which will ensure that the bangbang control method becomes useful within higher speeds and over longer distances. All recommendations are supported and backed- up by practical experimental results.
Ključne besede:nanorobotske celice, nanopozicioniranje, histerezni krmilnik, proizvodnja MEMS, realno-časovni LabView, nano-robot cells, nano-positioning, bang-bang controller, MEMS assembly, LAbVIEW, real time
Leto izida:2011
Založnik:= Association of Mechanical Engineers and Technicians of Slovenia et al.
Št. strani:str. 321-322
Številčenje:Vol. 57, no. 4
UDK:681.5
COBISS_ID:14959382 Novo okno
DOI:10.5545/sv-jme.2009.017 Novo okno
ISSN pri članku:0039-2480
NUK URN:URN:SI:UM:DK:TY4J69PV
Število ogledov:979
Število prenosov:109
Metapodatki:XML RDF-CHPDL DC-XML DC-RDF
Področja:Ostalo
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Gradivo je del revije

Naslov:Strojniški vestnik
Skrajšan naslov:Stroj. vestn.
Založnik:Zveza strojnih inženirjev in tehnikov Slovenije [et al.]
ISSN:0039-2480
COBISS.SI-ID:762116 Novo okno

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