By Topic

Decoupling basis control of dual-drive gantry stages for path-tracking applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Garciaherreros, I. ; Arts et Metiers ParisTech, Paris, France ; Kestelyn, X. ; Gomand, J. ; Barre, P.-J.

Dual-drive gantry stages are used for high-speed high-precision motion control applications such as flat panel display manufacturing and inspection. Industrially, they are usually controlled using independent axis control without taking into consideration the effect of inter-axis mechanical coupling over positioning accuracy and precision. To improve this and minimize the effect of mechanical coupling over synchronization and tracking errors, we propose to model and control the dual-drive gantry stage on a decoupling basis. This approach allows representing the highly coupled Multiple Input Multiple Output (MIMO) system as a set of independent Single Input Single Output (SISO) systems. Based on this representation, a model-based feedback-feedforward control scheme is deduced. Experimental results show that the proposed decoupling basis control scheme leads to an improved motion control of the point-tool in comparison to the present industrial control.

Published in:

Industrial Electronics (ISIE), 2010 IEEE International Symposium on

Date of Conference:

4-7 July 2010