A Deep Trajectory Controller for a Mechanical Linear Stage Using Digital Twin Concept

An industrial linear stage is a device that commonly used in robotics. To be precise, an electro-mechanical system includes motor, electronics, flexible coupling, gear, ball screw, and precision bearing. A tight fit can provide better but also generates difficult-to-model friction highly nonlinear asymmetrical. Herein, this paper proposes advanced trajectory controller based on digital twin framework incorporated with artificial intelligence (AI), which effectively control stage. This offers several advantages: detection of abnormalities, estimation performance, selective over any situation. The developed via Matlab’s Simscape runs concurrently having real-time controller.