Precise position feedback control of acoustically levitating objects by event-based vision
Vincent Bos (TU Delft - Mechanical Engineering)
Mohamed El Shenawy (Student TU Delft)
Jasper Wesselingh (ITEC)
Peter G. Steeneken (TU Delft - Mechanical Engineering)
Gerard J. Verbiest (TU Delft - Mechanical Engineering)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Acoustic levitation is a promising technique for contactless handling of small objects. However, for acoustic levitation in air, the positioning precision is usually too low and the response time too long for practical applications. In this work, we implement feedback control to reach high positioning precision. We realize real-time position monitoring at 2 kHz by an event camera and tracking algorithm. Using system identification and modeling, we design a PID controller for position feedback that can stabilize the position along a single axis. The controller is shown to reduce the particle response time to 0.06 s and reach a closed-loop RMS horizontal positioning error of 19 µm, outperforming the state of the art. With the feedback control, the positioning precision of acoustic levitation is brought into a regime comparable to the positioning performance of additive manufacturing methodologies.
help_outline