Details
| Original language | English |
|---|---|
| Title of host publication | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4686-4693 |
| Number of pages | 8 |
| ISBN (electronic) | 9781538626825 |
| ISBN (print) | 978-1-5386-2683-2 |
| Publication status | Published - 14 Dec 2017 |
| Event | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 24 Sept 2017 → 28 Sept 2017 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| Volume | 2017-September |
| ISSN (Print) | 2153-0858 |
| ISSN (electronic) | 2153-0866 |
Abstract
Industrial robotic manipulators can be augmented by a micro-positioning unit in order to increase their precision resulting in a so called macro-micro-manipulator. The micro-positioning unit is typically driven by piezoelectric actuators due to their beneficial properties. However, contact forces during interaction tasks induce deviations from the nominal path that can not be observed due to compliance, lack of sensors in the micro-positioning unit, or unknown interaction dynamics in constrained environments. In this paper, a model-free and decoupled disturbance rejection controller via visual feedback for macro-micro-manipulators is presented. An external stereoscopic vision system is employed to detect deviations from the nominal trajectory. We outline an image segmentation algorithm and the utilized camera calibration technique is based on two-view geometry. Afterwards, the disturbance rejection controller including visual feedback for the macro-micro-manipulator is described. In order to demonstrate the 3D capability of the proposed approach, a microscopic staircase is milled. For comparison, the milling experiment is executed without and with active disturbance rejection by the micro-positioning unit in order to show the increase in precision during the milling task. Results show that the arithmetic mean roughness falls below 2 μm for the step profiles and the maximum surface height deviation is less than ±10 μm for each steps.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4686-4693 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Increasing milling precision for macro-micro-manipulators with disturbance rejection control via visual feedback
AU - Schindlbeck, Christopher
AU - Janz, Alexej
AU - Pape, Christian
AU - Reithmeier, Eduard
PY - 2017/12/14
Y1 - 2017/12/14
N2 - Industrial robotic manipulators can be augmented by a micro-positioning unit in order to increase their precision resulting in a so called macro-micro-manipulator. The micro-positioning unit is typically driven by piezoelectric actuators due to their beneficial properties. However, contact forces during interaction tasks induce deviations from the nominal path that can not be observed due to compliance, lack of sensors in the micro-positioning unit, or unknown interaction dynamics in constrained environments. In this paper, a model-free and decoupled disturbance rejection controller via visual feedback for macro-micro-manipulators is presented. An external stereoscopic vision system is employed to detect deviations from the nominal trajectory. We outline an image segmentation algorithm and the utilized camera calibration technique is based on two-view geometry. Afterwards, the disturbance rejection controller including visual feedback for the macro-micro-manipulator is described. In order to demonstrate the 3D capability of the proposed approach, a microscopic staircase is milled. For comparison, the milling experiment is executed without and with active disturbance rejection by the micro-positioning unit in order to show the increase in precision during the milling task. Results show that the arithmetic mean roughness falls below 2 μm for the step profiles and the maximum surface height deviation is less than ±10 μm for each steps.
AB - Industrial robotic manipulators can be augmented by a micro-positioning unit in order to increase their precision resulting in a so called macro-micro-manipulator. The micro-positioning unit is typically driven by piezoelectric actuators due to their beneficial properties. However, contact forces during interaction tasks induce deviations from the nominal path that can not be observed due to compliance, lack of sensors in the micro-positioning unit, or unknown interaction dynamics in constrained environments. In this paper, a model-free and decoupled disturbance rejection controller via visual feedback for macro-micro-manipulators is presented. An external stereoscopic vision system is employed to detect deviations from the nominal trajectory. We outline an image segmentation algorithm and the utilized camera calibration technique is based on two-view geometry. Afterwards, the disturbance rejection controller including visual feedback for the macro-micro-manipulator is described. In order to demonstrate the 3D capability of the proposed approach, a microscopic staircase is milled. For comparison, the milling experiment is executed without and with active disturbance rejection by the micro-positioning unit in order to show the increase in precision during the milling task. Results show that the arithmetic mean roughness falls below 2 μm for the step profiles and the maximum surface height deviation is less than ±10 μm for each steps.
UR - http://www.scopus.com/inward/record.url?scp=85041961207&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206340
DO - 10.1109/IROS.2017.8206340
M3 - Conference contribution
AN - SCOPUS:85041961207
SN - 978-1-5386-2683-2
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4686
EP - 4693
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -