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: 18 apr. 2024. 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. 18 Apr. 2024
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)
Strojniški vestnik - Journal of Mechanical Engineering 57(2011)4, 313-322
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
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.