A Manufacturing System for Microscale Robotic Deposition
Abstract
This paper presents initial results in the development of a fabrication system capable of producing prototype parts with feature sizes on both the meso- and micro-scale using a technique known as robocasting. A dual-stage design is proposed, but the work presented here focuses on individual control of the first or coarse stage. This stage suffers from several known position-dependent disturbances, and a technique for identifying and compensating for them through an inverse-mapping is presented. A loop-shaped feedback controller and iterative learning feedforward controller are designed. Experimental results show the controller to be extremely effective in tracking repeated trajectories. In many cases contour error is on the order of the feedback resolution.
Recommended Citation
D. A. Bristow and A. G. Alleyne, "A Manufacturing System for Microscale Robotic Deposition," Proceedings of the 2003 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jan 2003.
The definitive version is available at https://doi.org/10.1109/ACC.2003.1243472
Meeting Name
American Control Conference, 2003
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Casting; Feedback; Feedforward; Industrial Manipulators; Iterative Methods; Learning Systems; Tracking
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2003 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
01 Jan 2003
