Design and hybrid control of a two-axis flexure-based positioning system

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dc.contributor.author Petri, Elena
dc.contributor.author Hao, Guangbo
dc.contributor.author Kavanagh Richard C.
dc.date.accessioned 2021-04-14T09:31:37Z
dc.date.available 2021-04-14T09:31:37Z
dc.date.issued 2021-03-07
dc.identifier.citation Petri, E., Hao, G. and Kavanagh R. C. (2021) 'Design and hybrid control of a two-axis flexure-based positioning system', International Journal of Intelligent Robotics and Applications. doi: 10.1007/s41315-021-00162-7 en
dc.identifier.issn 2366-5971
dc.identifier.uri http://hdl.handle.net/10468/11201
dc.identifier.doi 10.1007/s41315-021-00162-7 en
dc.description.abstract In this paper, an accurate, large range, two-axis compliant positioning system is described and the performance of the implemented control system is analysed. The characteristics of two independently controlled axes are designed to be nominally identical and orthogonal. Both the kinematic and the kinetostatic cross-coupling interactions between the axes are statically analysed. The movement of each system axis can be modelled with linear equations when assuming a small motion range, upper bounded by about 0.2 mm. To achieve high-performance over the full permissible motion range (i.e., for movements up to ± 1 mm), the non-linearity due to stiffness has been considered and modelled to implement the controller. The control system is based on both a PID feedback controller and a force feed-forward controller based on a non-linear model. For sinusoidal or triangular reference signals, a repetitive controller (RC) based on a linear system model is added in parallel to improve system performances. Various dynamic tests have been performed, and the obtained simulation and experimental results are discussed. A suitable application of the designed RC is shown to significantly improve the accuracy of the system especially at the higher frequencies selected, thus allowing the accurate tracking of movements up to 50 Hz. The adopted encoder (with a resolution of 5 nm) allows the relative accuracy of the system to be of the order of a few percent for displacements of up to ± 1 mm from the null position. en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Springer Nature Switzerland AG en
dc.rights © 2021, the Authors, under exclusive licence to Springer Nature Singapore Pte Ltd. part of Springer Nature. This is a post-peer-review, pre-copyedit version of an article published in International Journal of Intelligent Robotics and Applications. The final authenticated version is available online at: https://doi.org/10.1007/s41315-021-00162-7 en
dc.subject Compliant mechanism en
dc.subject Hybrid control en
dc.subject Positioning system en
dc.subject Repetitive control en
dc.title Design and hybrid control of a two-axis flexure-based positioning system en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical & Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.check.info Access to this article is restricted until 12 months after publication by request of the publisher. en
dc.check.date 2022-03-07
dc.date.updated 2021-04-14T09:10:51Z
dc.description.version Accepted Version en
dc.internal.rssid 562412297
dc.description.status Peer reviewed en
dc.identifier.journaltitle International Journal of Intelligent Robotics and Applications en
dc.internal.copyrightchecked Yes
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en
dc.internal.bibliocheck In press. Check vol / issue / page range. Amend citation as necessary. en
dc.identifier.eissn 2366-598X


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