Title :
Position and vibration control of an XYZ flexure parallel mechanism
Author :
Tang, Xueyan ; Chen, I-Ming
Author_Institution :
Nanyang Technol. Univ., Singapore
Abstract :
This paper presents a hybrid position and vibration controller with high robustness for an XYZ flexure parallel mechanism (FPM). In flexure mechanisms, unmodeled uncertainties, low damping and high sensitivity to external disturbances are three common problems which reduce the positioning precision and slow the dynamic response. The hybrid controller based on the Hinfin-theory solves the three common problems and are implemented on a 3-PPP XFZ-FPM.
Keywords :
Hinfin control; dynamic response; manipulator dynamics; micromanipulators; position control; vibration control; Hinfin-theory; XYZ flexure parallel mechanism; dynamic response; hybrid controller; position control; precision positioning; vibration control; Aerospace engineering; Assembly; Damping; Friction; Kinematics; Micromanipulators; Robust control; Sliding mode control; Uncertainty; Vibration control;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412478
