GOALI: Development of Advanced Control Methodologies for Hexapod Machining Cell

这项合作研究项目旨在为六足加工单元开发先进的传感和控制方法。 过程参数将被识别和表征，并用于开发先进的基于过程模型的控制器的六足加工单元。来自力、温度和位置传感器的信息将被融合，然后由为机器创建的位置控制算法用于误差补偿。 这项研究将由佛罗里达大学与美国国家标准与技术研究所（NIST）和桑迪亚国家实验室合作进行，使用NIST和桑迪亚实验室提供的六足加工单元，以及佛罗里达大学制造实验室系统自动化和移动性开发的微机械手六足。 该研究项目将有助于通过先进的控制技术提高六足加工单元的精度。 它协同大学及其合作伙伴的研究工作。

This collaborative research project aims to develop advanced sensing and control methodologies for hexapod machining cells. Process parameters will be identified and characterized, and used to develop the advanced process model-based controller for the hexapod machining cell. Information from force, temperature and position sensors will be fused, before being used by the position control algorithm created for the machine for error compensation. The research will be conducted by the University of Florida in collaboration with the National Institute of Standards and Technology (NIST) and Sandia National Laboratory, using the hexapod machining cells available at the NIST and Sandia Laboratories, as well as the micro-manipulator hexapod developed by the Systems Automation and Mobility in Manufacturing Laboratory at the University of Florida. The research project will contribute toward improving the accuracy of hexapod machining cells via advanced control techniques. It synergizes the research efforts of the University and its collaborative partners.