Robotska celica s submikrometrsko resolucijo : doktorska disertacija

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Robotska celica s submikrometrsko resolucijo : doktorska disertacija

Škorc, Gregor

V 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, serious

Publication and manufacture - [S. l. : G. Škorc], 2011

Language - slovenian

COBISS.SI-ID - 255754240

Link(s):
http://dkum.uni-mb.si/Dokument.php?id=21178
Digital Library of the University of Maribor – DLUM
Digitalna knjižnica Slovenije - dLib.si

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Author
Škorc, Gregor

Other authors
Šafarič, Riko | Gotlih, Karl

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Year	Impact factor		Edition		Category		Classification
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Links to authors' personal bibliographies	Links to information on researchers in the SICRIS system
Škorc, Gregor	30739
Šafarič, Riko	06824
Gotlih, Karl	04965

Source: Personal bibliographies and: SICRIS

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