Plenary Lecture
High Precision Positioning Control System for a Nano Micro Manipulators Platform
Professor Luige Vladareanu
Romanian Academy
Institute of Solid Mechanics
Bucharest, Romania
E-mail: luigiv@arexim.ro
Abstract: The paper presents a real time control system for high precision positioning of a 4 nano micro manipulators platform in order to increase the positioning precision at high speed through reducing and compensating dynamic vibrations induced by the system’s movement. The control system, based on the system dynamic inversion method, ensures a desired trajectory with a fast mitigation of the vibrations by introducing an active damping force computation, having as input signals velocity, position and in some cases force. Through determining the optimal trajectory, using a quadratic cost function for reducing tracking errors, there results a six fold increase in tracking speed on micro or nano-metric positioning precision. The robot control system with compliant wrist allows for the control of the hybrid position and force in Cartezian coordinates through real time processing of the Jacobine matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobine inverted matrix for control in closed loop. Also, a new method for determining the control error is proposed consisting of a fuzzy multi-stage control on three different decision stages in order to determine the movement velocity. That implies the realization of three fuzzy control loops: one in position, one in force and the other in structural vibrations. The control systems allows for practically eliminating jamming and vibrations, having a fast response of the control loop. Finally, the system’s performance will allow the introduction of new functions without significant change to the hardware and through an overwhelming contribution of knowledge in developing supplementary functions for a 4 nano-micro manipulators platform: nano-metric positioning, reducing structural vibrations, with direct application in nano-micro manufacturing.
Brief Biography of the Speaker: Luige Vladareanu received his M.Sc. degree in electronics from the Polytechnic Institute Bucharest, in 1977. From 1984, scientific researcher of the Institute of Physics and Material Technology, from 1990, team leader of data acquisition systems and real time control systems of the Institute of Solid Mechanics, from 1991, President General Manager of Engineering and Technology Industrial VTC Company. In 1998 he received Ph.D. degree in electronics field from the Institute of Solid Mechanics of Romanian Academy. From 2003, Ministry of Education and Research, executive Department for Financing Superior Education and of Scientific University Research - High Level Expert Consulting for MEC/CNCSIS project, from 2003-2005, member of Engineering Science Committee of Romanian National Research Council, from 2005, Scientific Researcher Gr.I (Professor) of Romanian Academy, from 2009 Head of Robotics and Mechatronics Department of Institute of Solid Mechanics, Romanian Academy. His scientific work is focused on real time control in solid mechanics applied in robot trajectory control, hybrid position – force control, multi-microprocessor systems for robot control, acquisition and processing of experimental physical data, experimental methods and signal processing, nano-micro manipulators, semi-active control of mechanical system vibrations, semi-active control of magnetorheological dissipaters systems, complex industrial automations with programmable logical controllers in distributed and decentralized structure. He has published 4 books, over 20 book chapters, 11 edited books, over 200 papers in journals, proceedings and conferences in the areas. Director and coordinator of 7 grants of national research – development programs in the last 5 years, 15 invention patents, developing 17 advanced work methods resulting from applicative research activities and more then 60 research projects. In 1985 the Central Institute of Physics Bucharest awarded his research team a price for the first Romanian industrial painting robot. He is the winner of the two Prize and Gold of Excellence in Research 2000, SIR 2000, of the Romanian Government and the Agency for Science, Technology and Innovation. 9 International Invention and Innovation Competition Awards and Gold of World’s Exhibition of Inventions, Geneva 2007 - 2009, and other 9 International Invention Awards and Gold of the Brussels, Zagreb, Bucharest International Exhibition. He received “Traian Vuia” (2006) award of the Romanian Academy, Romania’s highest scientific research forum, for a group of scientific papers published in the real time control in the solid mechanics. He is team leader of two ANCS (Scientific Research National Agency) funded research projects: “Fundamental and Applied Researches for Position Control of HFPC MERO Walking Robots” from CNCSIS-Exploratory Researches Program and “Complex Modular Automation Systems for Technological Flux Control AUTMPG” from AMCSIT-Innovation Program. He is a member of the International Institute of Acoustics and Vibration (IIAV), Auburn University, USA (2006), ABI´s Research Board of Advisors, American Biographical Institute (2006), World Scientific and Engineering Academy Society, WSEAS (2005), International Association for Modelling and Simulation Techniques in Enterprises-AMSE, France (2004), National Research Council from Romania(2003-2005), etc. He is a PhD advisor in the field of mechanical engineering at the Romanian Academy. He was an organizer of several international conferences such as the General Chair of four WSEAS International Conferences (http://www.wseas.org/conferences/ 2008/romania/amta/index.html), chaired Plenary Lectures to Houston 2009, Harvard, Boston 2010 and Penang, Malaysia 2010, Paris 2011 to the WSEAS International Conferences, is team leader of WSEAS scientific research project: Mechanics & Robotics Systems and is serving on various other conferences and academic societies.