Verification of robust position control on a cross-coupled 2-DOF direct drive actuator

This paper presents a two-degree-of-freedom (2-DOF) direct drive motor to achieve flexible motion control. As one of the motion control methods, robust position control is significant in order to functionalize industrial robots, machine tools, medical robots, and so on. Furthermore, these requires multi-degree-of freedom motion. Then the authors have proposed 2-DOF direct drive motor, which realizes translational motion and rotary motion. In this paper, voltage and motion equations of the proposed motor are briefly introduced. According to these equations, simulations and experiments are carried out to verify achievement of precision position control in the proposed actuator.