Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522529
