Position Control with Parameter Adaptation for a Nano-Robotic Cell

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ŠKORC, Gregor ;ČAS, Jure ;BREZOVNIK, Simon ;ŠAFARIČ, Riko .
Position Control with Parameter Adaptation for a Nano-Robotic Cell. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 57, n.4, p. 313-322, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/>. Date accessed: 15 aug. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2009.017.
Škorc, G., Čas, J., Brezovnik, S., & Šafarič, R.
(2011).
Position Control with Parameter Adaptation for a Nano-Robotic Cell.
Strojniški vestnik - Journal of Mechanical Engineering, 57(4), 313-322.
doi:http://dx.doi.org/10.5545/sv-jme.2009.017
@article{sv-jmesv-jme.2009.017,
	author = {Gregor  Škorc and Jure  Čas and Simon  Brezovnik and Riko  Šafarič},
	title = {Position Control with Parameter Adaptation for a Nano-Robotic Cell},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {4},
	year = {2011},
	keywords = {nano-robot cell; nano-positioning; bang-bang controller; MEMS assembly; LabVIEW real time},
	abstract = {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 a position 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.},
	issn = {0039-2480},	pages = {313-322},	doi = {10.5545/sv-jme.2009.017},
	url = {https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/}
}
Škorc, G.,Čas, J.,Brezovnik, S.,Šafarič, R.
2011 June 57. Position Control with Parameter Adaptation for a Nano-Robotic Cell. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 57:4
%A Škorc, Gregor 
%A Čas, Jure 
%A Brezovnik, Simon 
%A Šafarič, Riko 
%D 2011
%T Position Control with Parameter Adaptation for a Nano-Robotic Cell
%B 2011
%9 nano-robot cell; nano-positioning; bang-bang controller; MEMS assembly; LabVIEW real time
%! Position Control with Parameter Adaptation for a Nano-Robotic Cell
%K nano-robot cell; nano-positioning; bang-bang controller; MEMS assembly; LabVIEW real time
%X 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 a position 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.
%U https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/
%0 Journal Article
%R 10.5545/sv-jme.2009.017
%& 313
%P 10
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 57
%N 4
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28
Škorc, Gregor, Jure  Čas, Simon  Brezovnik, & Riko  Šafarič.
"Position Control with Parameter Adaptation for a Nano-Robotic Cell." Strojniški vestnik - Journal of Mechanical Engineering [Online], 57.4 (2011): 313-322. Web.  15 Aug. 2020
TY  - JOUR
AU  - Škorc, Gregor 
AU  - Čas, Jure 
AU  - Brezovnik, Simon 
AU  - Šafarič, Riko 
PY  - 2011
TI  - Position Control with Parameter Adaptation for a Nano-Robotic Cell
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2009.017
KW  - nano-robot cell; nano-positioning; bang-bang controller; MEMS assembly; LabVIEW real time
N2  - 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 a position 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.
UR  - https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/
@article{{sv-jme}{sv-jme.2009.017},
	author = {Škorc, G., Čas, J., Brezovnik, S., Šafarič, R.},
	title = {Position Control with Parameter Adaptation for a Nano-Robotic Cell},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {4},
	year = {2011},
	doi = {10.5545/sv-jme.2009.017},
	url = {https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/}
}
TY  - JOUR
AU  - Škorc, Gregor 
AU  - Čas, Jure 
AU  - Brezovnik, Simon 
AU  - Šafarič, Riko 
PY  - 2018/06/28
TI  - Position Control with Parameter Adaptation for a Nano-Robotic Cell
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 57, No 4 (2011): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2009.017
KW  - nano-robot cell, nano-positioning, bang-bang controller, MEMS assembly, LabVIEW real time
N2  - 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 a position 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.
UR  - https://www.sv-jme.eu/sl/article/position-control-with-parameter-adaptation-for-a-nano-robotic-cell/
Škorc, Gregor, Čas, Jure, Brezovnik, Simon, AND Šafarič, Riko.
"Position Control with Parameter Adaptation for a Nano-Robotic Cell" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 57 Number 4 (28 June 2018)

Avtorji

Inštitucije

  • Resistec UPR d.o.o.& Co. k.d., Krška cesta 8, SI-8311 Kostanjevica na Krki 1
  • University of Maribor, Faculty of Electrical Engineering and Computer Science 2
  • University of Maribor, Faculty of Mechanical Engineering 3

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 57(2011)4, 313-322

https://doi.org/10.5545/sv-jme.2009.017

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 a position 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.

nano-robot cell; nano-positioning; bang-bang controller; MEMS assembly; LabVIEW real time