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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
Cheung, JWFHung, YS
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?
DOI: http://dx.doi.org/10.3182/20080706-5-KR-1001.2400
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
1474-6670
References
References in Scopus

 

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-
dc.identifier.issnl1474-6670-

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