Design and control of a 6-degree-of-freedom precision positioning system

详细信息    查看全文

• 作者：Kunhai Cai^a ; Yanling Tian^a ; ^b ; ^{meytian@tju.edu.cn} ; Fujun Wang^a ; Dawei Zhang^a ; Xianping Liu^b ; Bijan Shirinzadeh^c
• 关键词：6-DOF positioning system ; Piezoelectric actuators (PEAs) ; Kinematic model ; Tracking control
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：77-96
• 全文大小：9412 K
• 卷排序：44

文摘

Design of a 6-degree-of-freedom (DOF) precision positioning system. According to an effective kinematic model, the transformation matrices are obtained. The inverse Bouc-Wen model was applied as a feedforward hysteresis compensator. Extensive experiments were performed to verify the good tracking performances.