DocumentCode
2521307
Title
Position and vibration control of an XYZ flexure parallel mechanism
Author
Tang, Xueyan ; Chen, I-Ming
Author_Institution
Nanyang Technol. Univ., Singapore
fYear
2007
fDate
4-7 Sept. 2007
Firstpage
1
Lastpage
6
Abstract
This paper presents a hybrid position and vibration controller with high robustness for an XYZ flexure parallel mechanism (FPM). In flexure mechanisms, unmodeled uncertainties, low damping and high sensitivity to external disturbances are three common problems which reduce the positioning precision and slow the dynamic response. The hybrid controller based on the Hinfin-theory solves the three common problems and are implemented on a 3-PPP XFZ-FPM.
Keywords
Hinfin control; dynamic response; manipulator dynamics; micromanipulators; position control; vibration control; Hinfin-theory; XYZ flexure parallel mechanism; dynamic response; hybrid controller; position control; precision positioning; vibration control; Aerospace engineering; Assembly; Damping; Friction; Kinematics; Micromanipulators; Robust control; Sliding mode control; Uncertainty; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location
Zurich
Print_ISBN
978-1-4244-1263-1
Electronic_ISBN
978-1-4244-1264-8
Type
conf
DOI
10.1109/AIM.2007.4412478
Filename
4412478
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