Title :
PTP motion control of XY positioning systems with a flexible beam
Author :
Kim, Bong Keun ; Park, Sangdeok ; Chung, Wan Kyun ; Youm, Youngil
Author_Institution :
Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
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
Keywords :
closed loop systems; compensation; control system synthesis; distributed parameter systems; feedback; feedforward; motion control; position control; robust control; PTP motion control; XY positioning systems; accurate positioning; analytic modeling; closed-loop performance; feedback controller; feedforward controller; flexible beam; frequency equation; robust internal-loop compensator; Adaptive control; Control systems; Equations; Frequency; Motion control; Robust control; Service robots; Shape control; Vibration control; Weight control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977214
