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Conference Paper: Robust control of a high precision 4-DOF parallel manipulator

TitleRobust control of a high precision 4-DOF parallel manipulator
Authors
KeywordsApplication Of Mechatronic Principles
Mechatronic Systems
Robots Manipulators
Issue Date2008
Citation
The 17th World Congress of the International Federation of Automatic Control (IFAC), Seoul, Korea, 6-11 July 2008. In IFAC Proceedings Volumes (IFAC-Papersonline), 2008, v. 17 n. 1, pt. 1 How to Cite?
AbstractA model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental results demonstrate that the motion performance of the 4-DOF parallel manipulator including positioning accuracy and steady-state error is improved significantly when compared with traditional XY, Z and θ motion stages. This shows that the proposed 4-DOF parallel manipulator provides a superior alternative to the traditional motion stages for high-precision motion. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
Persistent Identifierhttp://hdl.handle.net/10722/158716
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorCheung, JWFen_US
dc.contributor.authorHung, YSen_US
dc.date.accessioned2012-08-08T09:01:00Z-
dc.date.available2012-08-08T09:01:00Z-
dc.date.issued2008en_US
dc.identifier.citationThe 17th World Congress of the International Federation of Automatic Control (IFAC), Seoul, Korea, 6-11 July 2008. In IFAC Proceedings Volumes (IFAC-Papersonline), 2008, v. 17 n. 1, pt. 1en_US
dc.identifier.issn1474-6670en_US
dc.identifier.urihttp://hdl.handle.net/10722/158716-
dc.description.abstractA model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental results demonstrate that the motion performance of the 4-DOF parallel manipulator including positioning accuracy and steady-state error is improved significantly when compared with traditional XY, Z and θ motion stages. This shows that the proposed 4-DOF parallel manipulator provides a superior alternative to the traditional motion stages for high-precision motion. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.en_US
dc.languageengen_US
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)en_US
dc.subjectApplication Of Mechatronic Principlesen_US
dc.subjectMechatronic Systemsen_US
dc.subjectRobots Manipulatorsen_US
dc.titleRobust control of a high precision 4-DOF parallel manipulatoren_US
dc.typeConference_Paperen_US
dc.identifier.emailHung, YS: yshung@eee.hku.hken_US
dc.identifier.authorityHung, YS=rp00220en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.3182/20080706-5-KR-1001.2400en_US
dc.identifier.scopuseid_2-s2.0-79961020083en_US
dc.identifier.hkuros163902-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79961020083&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume17en_US
dc.identifier.issue1, pt. 1en_US
dc.identifier.scopusauthoridCheung, JWF=9037307000en_US
dc.identifier.scopusauthoridHung, YS=8091656200en_US
dc.customcontrol.immutablesml 151116 - merged-

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