Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders
In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/14/2/375 |
| _version_ | 1797619270448840704 |
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| author | Kengo Tanabe Masato Shiota Eiji Kusui Yohei Iida Hazumu Kusama Ryosuke Kinoshita Yohei Tsukui Rintaro Minegishi Yuta Sunohara Ohmi Fuchiwaki |
| author_facet | Kengo Tanabe Masato Shiota Eiji Kusui Yohei Iida Hazumu Kusama Ryosuke Kinoshita Yohei Tsukui Rintaro Minegishi Yuta Sunohara Ohmi Fuchiwaki |
| author_sort | Kengo Tanabe |
| collection | DOAJ |
| description | In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional–integral–derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes. |
| first_indexed | 2024-03-11T08:24:44Z |
| format | Article |
| id | doaj.art-ed33d4d4445d47ed8037abf05979567d |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-11T08:24:44Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-ed33d4d4445d47ed8037abf05979567d2023-11-16T22:11:23ZengMDPI AGMicromachines2072-666X2023-02-0114237510.3390/mi14020375Precise Position Control of Holonomic Inchworm Robot Using Four Optical EncodersKengo Tanabe0Masato Shiota1Eiji Kusui2Yohei Iida3Hazumu Kusama4Ryosuke Kinoshita5Yohei Tsukui6Rintaro Minegishi7Yuta Sunohara8Ohmi Fuchiwaki9Department of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 2408051, Kanagawa, JapanIn this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control. To simultaneously measure the XYθ displacements, we designed an integrated two-degrees-of-freedom scale for the four encoders. We also derived a calibration equation to decrease the crosstalk errors among the XYθ axes. To investigate the feasibility of this approach, we placed the scale as a measurement target for a holonomic robot. We demonstrated closed-loop sequence control of a star-shaped trajectory for multiple-step motion in the centimeter to micrometer range. We also demonstrated simultaneous three-axis proportional–integral–derivative control for one-step motion in the micrometer to sub-micrometer range. The close-up trajectories were examined to determine the detailed behavior with sub-micrometer and sub-millidegree resolutions in the MHz measurement cycle. This study is an important step toward wide-range flexible control of precise holonomic robots for various applications in which multiple tools work precisely within the limited space of instruments and microscopes.https://www.mdpi.com/2072-666X/14/2/375XYθ position controlholonomic inchworm robotoptical encoderclosed-loop controlcalibrationcrosstalk error |
| spellingShingle | Kengo Tanabe Masato Shiota Eiji Kusui Yohei Iida Hazumu Kusama Ryosuke Kinoshita Yohei Tsukui Rintaro Minegishi Yuta Sunohara Ohmi Fuchiwaki Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders Micromachines XYθ position control holonomic inchworm robot optical encoder closed-loop control calibration crosstalk error |
| title | Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders |
| title_full | Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders |
| title_fullStr | Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders |
| title_full_unstemmed | Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders |
| title_short | Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders |
| title_sort | precise position control of holonomic inchworm robot using four optical encoders |
| topic | XYθ position control holonomic inchworm robot optical encoder closed-loop control calibration crosstalk error |
| url | https://www.mdpi.com/2072-666X/14/2/375 |
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