Precision motion control for an X-Y table using the LOLIMOT Neuro-Fuzzy Friction compensation

Author

Babaie, Masoud ; Khanzadi, Mohammad Reza

Author_Institution

Dept. of Electr. Eng., IUST Univ. of Tehran, Tehran

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

2300

Lastpage

2304

Abstract

The result of practical implementation of intelligent compensation of friction to achieve precision motion control of X-Y table is presented here. It uses LOLIMOT algorithm to make a neuro-fuzzy model that predicts the effect of friction on the system output. This predictor is used with inverse of ideal system model as a friction compensator. Implementation and applying this compensator to the system results mean tracking error reduction for a desired path. Moreover, the disturbances implied by the friction are highly improved.

Keywords

error analysis; friction; fuzzy neural nets; motion control; neurocontrollers; X-Y table; friction compensator; mean tracking error reduction; neurofuzzy friction compensation; precision motion control; Angular velocity; Computer numerical control; DC motors; Friction; Intelligent robots; Motion control; Partitioning algorithms; Predictive models; Servomechanisms; Voltage; Friction; LOLIMOT Algorithms; Neuro-Fuzzy Model; Precision motion control; X-Y Table;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522529

Filename

4522529