Abstract
This paper proposes an easy-implemented and high precision contouring control method for a self-developed compliant nanomanipulator supporting cost-effective micro-stereolithography (MSL). The proposed contouring control method is composed of a repetitive controller (RC) to achieve periodic trajectory tracking for each axis, and a cross-coupled control (CCC) for the coordination of contour errors. It is worth noting that the cross-coupled controller design and its integration to RC are not straightforward, as an incorrect feedback position may even deteriorate the contouring and an inappropriate design of the cross-coupled controller leads to instability of the system. For the proposed control structure, a correct feedback position is designed, hence a cross-coupled controller is constructed to ensure the stability and contour error reduction. Various simulations and real-time experiments are deployed on the nanomanipulator, and the comparative results validate the enhanced contour tracking performance of the proposed control method with the contour error 86 nm.
Highlights
Additive manufacturing (AM) is a process allowing the rapid production of varied-size models and prototypes, and the manufacturing is implemented based on a layer-bylayer process
The main contributions of this paper are as follows: 1. An easy-implemented and high precision contouring control structure is proposed for a self-developed compliant nanomanipulator supporting a cost-effective MSL system
Further the generalized cross-coupled control (GCCC) [30] was proposed to deal with free form contours, and the idea of the contour error calculation by GCCC is shown in FIGURE 2, where P is the current tracking position, and r(k) is the current reference position
Summary
Additive manufacturing (AM) is a process allowing the rapid production of varied-size models and prototypes, and the manufacturing is implemented based on a layer-bylayer process. An easy-implemented and high precision contouring control structure is proposed for a self-developed compliant nanomanipulator supporting a cost-effective MSL system.
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