Title :
Control of a high precision linear robot workcell using state steering
Author :
Chang, Timothy ; Yuan, Ding ; Hanek, Henry
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ
Abstract :
This work deals with feedforward control of a New England Affiliated Technologies (NEAT) four-axis positioning system which is designed for single mode optical fiber alignment applications. Due to the presence of a velocity deadzone with variable boundaries, a model reference feedforward control is implemented to improve the transient response. The algorithm is efficient in execution while robust to plant and deadzone boundary uncertainties. Both simulation and experimental results confirm the viability of the proposed method
Keywords :
feedforward; position control; robots; NEAT four-axis positioning system; New England Affiliated Technologies; high precision linear robot workcell control; model reference feedforward control; single mode optical fiber alignment; state steering; velocity deadzone; Control systems; Optical control; Optical design; Optical fibers; Optical variables control; Robots; Robustness; Transient response; Uncertainty; Velocity control;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507325
