協調経路制御とそのリニアX-Yテーブルへの応用

概要

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This paper proposes cooperative path control and its application to linear X-Y table. Usually, X axis servo system and Y axis servo system are designed independently for X-Y table. Therefore, when frequency responses of these control systems are largely different as compered with frequency components of desired signals, large path error is often caused. In this paper, area error is newly introduced as an index of path error and imaginary desired signal that minimizes the area error is used instead of usual desired signal. This cooperative path control system includes path error feedback loop and it is essential path control system. Then, it is very effective for path control of X-Y table or robot manipulator. This method is applied to linear X-Y table and effectiveness is confirmed by experiment.
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