Modeling and controller design of a 6-DOF precision positioning system
نویسندگان
چکیده
منابع مشابه
Modeling and controller design of a Maglev guiding system for application in precision positioning
In this paper, we have analyzed the dynamics of a magnetic guiding system and derived its analytical model with full DOFs (degrees-of-fieedom). Then, an adaptive controller which deals with unknown parameters is proposed here to regulate the five DOFs in this system. The guiding system including sensors and drivers systems is actually implemented. From the experimental results, satisfactory per...
متن کاملDesign and Modeling of a Precision 6 Dof Mems-based Parallel Kinematic Tem Sample Manipulator
A design for a 6 Degree-of-freedom precision MEMS-based manipulator for a TEM will is presented. The elastic mechanism is designed and modeled with the specific design considerations regarding kinematic constraint design and elastic energy storage. The typical relatively large deformations of elastic hinges in MEMS result in relatively large displacements and large rigid body rotations. For acc...
متن کاملANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis
In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in comparing with the co...
متن کاملPractical Controller for Precision Positioning System – a New Design Approach and Application to Mechanism with Friction
INTRODUCTIONS A variety of precision positioning system, such as machine tools, measuring machines and semiconductor manufacturing systems, generally require high performance motion controllers. For this account, a practical controller which provides simple and transparency design and structure; produces fast response, nearly zero overshoot, high robust performance and excellent accuracy is req...
متن کاملDesign and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning
This paper presents the design and modeling of a new 6-DOF 8-PSS/SPS compliant dual redundant parallel robot with wide-range flexure hinges. This robot can achieve either high accurate positioning or rough positioning as well as a 6-DOF active vibration isolation and excitation to the payload placed on the moving platform. Adopting a kind of wide-range flexure hinge, we establish the kinematics...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mechanical Systems and Signal Processing
سال: 2018
ISSN: 0888-3270
DOI: 10.1016/j.ymssp.2017.11.002