軌跡偏差を用いた二次元軌跡追従制御法

概要

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This paper proposes a new two-dimensional tracking method exploiting “trajectory errors”. The proposed method detects a single spatial trajectory error between the desired trajectory and a current position, generates two-axes manipulated variables through a new “trajectory compensator” using the trajectory error, and injects the manipulated variables into the two-axes plant in a feedback manner. The aforementioned process implies a new structure of trajectory tracking systems where the trajectory compensator plays a dominant role. Detailed structure of the compensator varies dependently of the desired trajectory. This paper presents new concrete structures for trajectories of straight line with offset and circle with offset, which are basic elements for arbitrary trajectories. Usefulness of the proposed method is confirmed by extensive experiments using an XY table.
社団法人電気学会の論文
2007-11-01