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Robotska celica s submikrometrsko resolucijo : doktorska disertacijaŠkorc, GregorV okviru doktorske disertacije je predstavljen razvoj eksperimentalne robotske celice, ki je zmožna pozicioniranja s submikrometrsko natančnostjo. Robotska celica temelji na petih PiezoLEGSr ... motorjih, od katerih dva izmed njih formirata X/Y manipulator, ostali trije pa služijo kot podajalne mizice po Z osi. Konvencionalne izvedbe krmilnikov za vodenje PiezoLEGSr motorjev ne omogočajo avtomatske adaptacije parametrov gibanja motorja. Gibanje v visoki resoluciji botruje nizkim hitrostim, kar ob gibanju manipulatorja na daljše razdalje privede do velike potratnosti časa. Disertacija obravnavana adaptivno položajno vodenje robotske celice s konvencionalnem krmilnikom Trinamic TMC-090, ki je dodelan tako, da omogoča avtomatsko adaptacijo parametrov vodenja. Tri klasične tehnike položajnega vodenja so nadgrajene z adaptacijskim algoritmom in preizkušene v okviru testa odziva na stopnico in testa sledenja trajektoriji. Predstavljeni sistem robotske celice je zgrajen fleksibilno in omogoča integracijo različnih orodij. Kot praktični primer uporabe takega sistema je prikazana izvedba manipulacije z vakuumskim in piezoelektričnim prijemalom, ter mikroskopiranje z Akiyama sondo.Type of material - dissertation ; adult, seriousPublication and manufacture - [S. l. : G. Škorc], 2011Language - slovenianCOBISS.SI-ID - 255754240
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Digital Library of the University of Maribor – DLUM
Digitalna knjižnica Slovenije - dLib.siDostop z namenskih računalnikov v prostorih NUK
Author
Škorc, Gregor
Other authors
Šafarič, Riko |
Gotlih, Karl
Topics
Avtomatska regulacija |
Disertacije |
Robotske celice |
Disertacije |
adaptivno vodenje |
piezoelektrične naprave |
submikrometrsko pozicioniranje |
proizvodnja MEMS |
adaptivni sistemi |
nanopozicioniranje
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Škorc, Gregor | 30739 |
Šafarič, Riko | 06824 |
Gotlih, Karl | 04965 |
Source: Personal bibliographies
and: SICRIS
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