DocumentCode :
3181706
Title :
Design and control of an air-bearing supported three degree-of-freedom fine positioner
Author :
Hammer, R. ; Hollis, R.L. ; An, C.H. ; Henriks, F.
Author_Institution :
IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
677
Abstract :
The authors discuss design considerations and control issues of a fine-motion device which provides very high performance, precision, and speed (12-g acceleration, 0.2 μm resolution). Coupled with a standard industrial robot and external sensing, improvements in precision up to two orders of magnitude can be achieved. Software enables it to be operated from a serial port of an IBM PC or PS/2. The moving element of the positioning head can be commanded to move over a ±1 mm range in x and y, and rotated up to ±1.75° in θ about the z axis. The device provides variable compliance with compliance set by loop gain in a digital controller. It incorporates a novel three-degree-of-freedom motor, a pair of internal position sensors to enable controlled motion in the plane, and an air bearing to support the moving elements
Keywords :
microcomputer applications; position control; robots; 3-d.o.f. motor; 3-d.o.f. positioning device; IBM PC; IBM PS/2; air-bearing supported three degree-of-freedom fine positioner; external sensing; fine-motion device; industrial robot; internal position sensors; serial port; variable compliance; Acceleration; Automatic control; Costs; Manufacturing automation; Motion control; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220289
Filename :
220289
Link To Document :
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