Abstract
Decreasing the minimum feature size of solid free-form (SFF) fabrication techniques requires advancements in both the SFF process and the actuating hardware. Microscale robotic deposition (μ-RD) is an ink-deposition SFF process where recent advances in ink design coupled with a high-precision motion system can lead to the fabrication of parts with microscale-sized features. This paper presents a control algorithm that combines nonlinearity compensation and a learning feedforward approach to achieve high-precision tracking with a standard, off-the-shelf motion system. The off-the-shelf motion system is affected by several nonlinear disturbances that severely inhibit the accuracy of linear models for small motions. Iterative learning control (ILC) is used in an inverse identification procedure to obtain accurate maps of the disturbances. These maps are used in the controller to yield a linear system after nonlinearity cancellation. As a further improvement, ILC is used to increase accuracy in tracking the repetitive portion of specific part trajectories. The combined approach yields extremely low contour tracking errors and is used to fabricate two types of periodic parts demonstrating high aspect ratios and spanning elements. Although high-precision tracking can also be achieved with an expensive, customized system, the off-the-shelf system combined with the control technique presented here provides a more cost-effective solution. The proposed control technique is effective for improving performance of repeatable, but uncertain nonlinear systems.
Original language | English (US) |
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Pages (from-to) | 1008-1020 |
Number of pages | 13 |
Journal | IEEE Transactions on Control Systems Technology |
Volume | 14 |
Issue number | 6 |
DOIs | |
State | Published - Nov 2006 |
Externally published | Yes |
Bibliographical note
Funding Information:Manuscript received January 3, 2006; revised May 4, 2006. Manuscript received in final form May 23, 2006. Recommended by Associate Editor J. Sarangapani. This work was supported in part by the National Science Foundation (NSF) DMI-0140466, an NSF Graduate Fellowship, and by the University of Illinois at Urbana-Champaign Nano-CEMMS Center NSF Award #0328162.
Keywords
- Iterative learning control (ILC)
- Manufacturing
- Precision motion control
- Robotics