Spatial feedforward for over-actuated flexible motion systems

M.J.C. Ronde, M.G.E. Schneiders, M.J.G. Molengraft, van de, D. de Haas, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Downloads (Pure)


In high-performance motion systems, e.g. waferstages or pick-and-place machines, there is an increasing demand for higher throughput and accuracy. The current design paradigm aims at rigid-body behaviour and leads in an evolutionary way to increasingly heavier systems that require more and more power. This paradigm is rapidly approaching the boundary of its scalability. A new paradigm is to design a lightweight machine and to deal with the resulting flexibilities by over-actuation and over-sensing. Such systems offer freedom to explore new control strategies that exploit the over-actuation and -sensing. This paper presents a spatial feedforward method for over-actuated flexible motions systems, which aims at reducing the vibrations over the complete flexible structure during motion. The proposed method is experimentally validated and compared to the standard input shaping technique.
Original languageEnglish
Title of host publicationThe 13th Mechatronics Forum International Conference, 17-19 September, Linz, Austria
EditorsR. Scheidl, B. Jakoby
Place of PublicationLinz
PublisherTrauner Verlag
ISBN (Print)978-3-99033-042-5
Publication statusPublished - 2012
Eventconference; Mechatronics 2012; 2012-09-17; 2012-09-19 -
Duration: 17 Sept 201219 Sept 2012

Publication series

NameAdvances in mechatronics


Conferenceconference; Mechatronics 2012; 2012-09-17; 2012-09-19
OtherMechatronics 2012


Dive into the research topics of 'Spatial feedforward for over-actuated flexible motion systems'. Together they form a unique fingerprint.

Cite this