제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Positioning control of a redundant actuator

  • Sasaki, M. (Department of Mechanical Engineering, Faculty of Engineering, Gifu University) ;
  • Setta, M. (Daifuku Co., Ltd) ;
  • Satoh, K. (Department of Mechanical Engineering, Faculty of Engineering, Gifu University) ;
  • Fujisawa, F. (Department of Mechanical Engineering, Faculty of Engineering, Gifu University)
  • 발행 : 1994.10.01
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초록

This paper discusses the solution to the precise positioning control problem applied to a simple model of a dual stage or redundant positioner. The dual stage actuator presented here uses a VCM(Voice Coil Motor) as a coarse actuator and a piezoelectric actuator as a fine actuator. By adopting controllers with two-degree-of-freedom and by optimizing H$_{2}$ faster precise tracking can be realized. Experimental and numerical results are presented to demonstrate the control effects.

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