Data-based spatial feedforward for over-actuated motion systems

M.J.C. Ronde; G.A.L. Leenknegt; M.J.G. van de Molengraft; M. Steinbuch

doi:10.1016/j.mechatronics.2014.07.002

Data-based spatial feedforward for over-actuated motion systems

M.J.C. Ronde, G.A.L. Leenknegt, M.J.G. van de Molengraft, M. Steinbuch

Control Systems Technology

Research output: Contribution to journal › Article › Academic › peer-review

5 Citations (Scopus)

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Abstract

For advanced motion systems there is an increasing demand for higher production throughput and accuracy. Traditionally, such systems are designed using a rigid-body design paradigm, which aims at designs with high stiffness. The alternative is to design a lightweight system and deal with the resulting flexibilities by over-actuation and over-sensing. This paper presents a data-based spatial feedforward method based on previous task trials, which aims at reducing the vibrations over the complete structure during motion. The proposed method is experimentally validated on an industrial prototype and compared to standard mass feedforward using rigid-body decoupling.

Original language	English
Pages (from-to)	679-690
Number of pages	12
Journal	Mechatronics
Volume	24
Issue number	6
DOIs	https://doi.org/10.1016/j.mechatronics.2014.07.002
Publication status	Published - 2014

Keywords

Feedforward design
Flexible systems
Learning control
Lightweight motion systems
Over-actuation
Over-sensing

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10.1016/j.mechatronics.2014.07.002

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Data-based spatial feedforward for over-actuated motion systems

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Keywords

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