The main paper presents studies and research concerning the development of new open architectures for real-time control of a 5 degrees of freedom platform with 4 nano-manipulators, based on multiprocessor systems operating in a cooperation regime in order to achieve experiments in the 4 research domains: robotics, vibro-acustica, tribology, carbon nano tubes (CNTs ). In order to obtain this performance a positioning method with high precision at high speed is developed through reducing and compensating the induced dynamic vibrations by the system movement using the inverse dynamics method. The system's performance will allow the introduction of new functions without significant change to the hardware system. Through determining the optimal trajectory using a quadratic cost function for reducing tracking errors results increased motion speed and micro or nanometric positioning precision.

Date Published: 3 December 2010
PDF: 6 pages
Proc. SPIE 7821, Advanced Topics in Optoelectronics, Microelectronics, and Nanotechnologies V, 78211M (3 December 2010); doi: 10.1117/12.882153

Published in SPIE Proceedings Vol. 7821:
Advanced Topics in Optoelectronics, Microelectronics, and Nanotechnologies V
Paul Schiopu; George Caruntu, Editor(s)