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Article: Robust learning control of a high precision planar parallel manipulator

TitleRobust learning control of a high precision planar parallel manipulator
Authors
KeywordsDynamic modelling
Iterative learning control
Parallel manipulators
Robust control
Issue Date2009
PublisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/mechatronics
Citation
Mechatronics, 2009, v. 19 n. 1, p. 42-55 How to Cite?
AbstractEnd-point positioning accuracy and fast settling time are essential in the motion system aimed at semiconductor packaging applications. In this paper, a novel robust learning control method for a direct-drive planar parallel manipulator is presented. A frequency-domain system identification approach is used to identify the high frequency dynamic of the manipulator. A robust control design method is employed to design a stable, fast tracking response feedback controller with less sensitivity to high frequency disturbance and the control parameters are determined using genetic algorithm. A Fourier-series-based iterative learning controller is designed and used on the feedforward path of the controller to further improve the settling time by reducing the dynamic tracking error of the manipulator. Experimental results demonstrate that the planar parallel manipulator has significant improvements on motion performance in terms of positioning accuracy, settling time and stability when compared with traditional XY-stages. This shows that the proposed manipulator provides a superior alternative to XY-motion stages for high precision positioning. © 2008 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/58718
ISSN
2015 Impact Factor: 1.871
2015 SCImago Journal Rankings: 1.019
ISI Accession Number ID
Funding AgencyGrant Number
ASM Assembly Automation Ltd
CRCG of the University of Hong Kong
Funding Information:

This research project is funded and supported by ASM Assembly Automation Ltd. http://www.asmpacific.com. The authors gratefully acknowledge the technical help and advice from Dr. P.C.K. Liu, Dr. G.P. Widdowson, Dr. D.Z. Liao and Mr. S.K. Wong of ASM. The authors would like to acknowledge the support of CRCG of the University of Hong Kong.

References

 

DC FieldValueLanguage
dc.contributor.authorCheung, JWFen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2010-05-31T03:35:41Z-
dc.date.available2010-05-31T03:35:41Z-
dc.date.issued2009en_HK
dc.identifier.citationMechatronics, 2009, v. 19 n. 1, p. 42-55en_HK
dc.identifier.issn0957-4158en_HK
dc.identifier.urihttp://hdl.handle.net/10722/58718-
dc.description.abstractEnd-point positioning accuracy and fast settling time are essential in the motion system aimed at semiconductor packaging applications. In this paper, a novel robust learning control method for a direct-drive planar parallel manipulator is presented. A frequency-domain system identification approach is used to identify the high frequency dynamic of the manipulator. A robust control design method is employed to design a stable, fast tracking response feedback controller with less sensitivity to high frequency disturbance and the control parameters are determined using genetic algorithm. A Fourier-series-based iterative learning controller is designed and used on the feedforward path of the controller to further improve the settling time by reducing the dynamic tracking error of the manipulator. Experimental results demonstrate that the planar parallel manipulator has significant improvements on motion performance in terms of positioning accuracy, settling time and stability when compared with traditional XY-stages. This shows that the proposed manipulator provides a superior alternative to XY-motion stages for high precision positioning. © 2008 Elsevier Ltd. All rights reserved.en_HK
dc.languageengen_HK
dc.publisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/mechatronicsen_HK
dc.relation.ispartofMechatronicsen_HK
dc.subjectDynamic modellingen_HK
dc.subjectIterative learning controlen_HK
dc.subjectParallel manipulatorsen_HK
dc.subjectRobust controlen_HK
dc.titleRobust learning control of a high precision planar parallel manipulatoren_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0957-4158&volume=19, No. 1&spage=42&epage=55&date=2009&atitle=Robust+learning+control+of+a+high+precision+planar+parallel+manipulatoren_HK
dc.identifier.emailHung, YS:yshung@eee.hku.hken_HK
dc.identifier.authorityHung, YS=rp00220en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.mechatronics.2008.07.002en_HK
dc.identifier.scopuseid_2-s2.0-57649187969en_HK
dc.identifier.hkuros163898en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-57649187969&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume19en_HK
dc.identifier.issue1en_HK
dc.identifier.spage42en_HK
dc.identifier.epage55en_HK
dc.identifier.isiWOS:000262807800005-
dc.publisher.placeUnited Kingdomen_HK
dc.identifier.scopusauthoridCheung, JWF=9037307000en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK

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