PTP运动控制XY定位系统用柔性梁

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.977214

B. Kim, Sangdeok Park, W. Chung, Y. Youm

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引用次数: 2

摘要

提出了一种由前馈和反馈控制器组成的PTP运动控制方法，用于柔性梁XY定位系统的精确定位和抑制振动。提出了基于系统解析建模和频率方程的输入预成型作为前馈控制器，以产生期望的响应。提出了一种基于鲁棒内环补偿器的反馈控制器，以稳定整个系统并满足闭环性能。实验证明了所提控制器的有效性。

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PTP motion control of XY positioning systems with a flexible beam

A PTP motion control method composed of a feedforward and feedback controller is proposed to get accurate positioning and to suppress vibration of a XY positioning system with a flexible beam. The input preshaping based on the analytic modeling and frequency equation of the system is proposed as a feedforward controller to produce desired responses. A feedback controller is proposed based on a robust internal-loop compensator to stabilize the whole system and to meet closed-loop performance. Experiments are carried out to show the validity of the proposed controller.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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