제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.463-463
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- 2000
Fast and Fine Tracking Control System Using Coarse/Fine Compound Actuation
- Kwon, Sang-Joo (Department of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
- Chung, Wan-Kyun (Department of Mechanical Engineering, Pohang University of Science & Technology(POSTECH)) ;
- Youngil Youm (Department of Mechanical Engineering, Pohang University of Science & Technology(POSTECH))
- 발행 : 2000.10.01
초록
A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.
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