NDLI: Effects of environmental noise on the accuracy of millimeter sized grippers in cantilever configuration and active stabilisation

Content Provider	IEEE Xplore Digital Library
Author	Boudaoud, M. Haddab, Y. Le Gorrec, Y. Lutz, P.
Copyright Year	2011
Description	Author affiliation: Automatic Control and Micro Mechatronic Systems Department, FEMTO-ST Institute, UFC-ENSMM-UTBM-CNRS, University of Franche-Comté, Besançon, France (Boudaoud, M.; Haddab, Y.; Le Gorrec, Y.; Lutz, P.)
Abstract	This paper presents a study about the effects of environmental noise on millimeter sized grippers in cantilever configuration. The study is motivated and conducted aiming at assessing the level of accuracy loss when performing micromanipulation/microassembly tasks in noisy environments as well in typical microrobotics laboratories as in industrial locations or operating rooms. Ground motion and acoustic noises within a typical microrobotic laboratory are characterized in the frequency domain and their effects on cantilevers of different lengths are inspected. The relevance of a typical vibration isolation table is evaluated and the effects of low and high acoustic noises are assessed. A modeling of a cantilever with base excitation is thereafter conducted in the state space using finite difference formulation and a stabilization of a disturbed cantilever is obtained at the nanometer level in noisy environments allowing perspectives to high precision micromanipulation tasks in hostile locations.
Starting Page	5240
Ending Page	5245
File Size	1145774
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979909
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Acoustic noise Humans Noise Laboratories Acoustic measurements Noise measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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