Robotska celica s submikrometrsko resolucijo : doktorska disertacija

slovenian

doktorska dela

2011

Univerza v Mariboru, Fakulteta za strojništvo

The doctor thesis presents the development of an experimental robotic cell, capable of positioning with submicrometer resolution. Robotic cell is based on five PiezoLEGSr motors, where two of them form an X/Y manipulator and the other three serve as serving tables within Z axis. Conventional controllers for PiezoLEGSr motors do not allow automatic adaptation of parameters of motor motion. High-resolution robotic moves are performed at very low speeds. This makes long distance robotic moves very time consuming. The theses dealt with adaptive position control of robotic cell, based on the conventional controller Trinamic TMC-090, which is reconstructed in such a way, that it allows automated parameter adaptation. Three classical techniques of position control are extended by the adaptation algorithm and tested according to step response and the trajectory tracking test. Presented robotic cell is built flexible and allows the integration of different robotic tools. As a practical example of use, of such a system, a manipulation with the vacuum and piezoelectric gripper is shown. Scanning principle with Akiyama probe is also presented.

08.08.2023