Show simple item record

dc.contributor.authorGARCÍA-HERREROS, Iván
dc.contributor.authorCOLEMAN, Ralph
dc.contributor.authorBARRE, Pierre-Jean
dc.contributor.author
 hal.structure.identifier
GOMAND, Julien
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
dc.contributor.author
 hal.structure.identifier
KESTELYN, Xavier
13338 Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 [L2EP]
dc.date.accessioned2013
dc.date.available2013
dc.date.issued2013
dc.date.submitted2013
dc.identifier.issn0967-0661
dc.identifier.urihttp://hdl.handle.net/10985/7016
dc.descriptionLa version éditeur de cet article est disponible à l'adresse suivante : http://dx.doi.org/10.1016/j.conengprac.2012.10.010
dc.description.abstractIndustrial motion control of dual–drive gantry stages is usually performed by position controllers acting independently on each actuator. This approach neglects the unbalance and the mechanical coupling between actuators, leading to poor positioning performances. To overcome this drawback, a model–based decoupling control is proposed. Initially, a dynamic model of the gantry stage is proposed. Once identified and validated,such model is written in terms of a decoupling basis. Then, by model inversion, a feedback feedforward decoupling control is presented. Experimental results show that, in comparison to the independent axis control approach, the proposed solution leads to improved motion control.
dc.description.sponsorshipThis research project is funded and supported by ETEL SA. http://www.etel.ch and the CIFRE research grant No. 448/2008 of the French National Association of Research and Technology.
dc.language.isoen
dc.publisherElsevier
dc.rightsPost-print
dc.subjectModel–based control
dc.subjectDynamic modeling
dc.subjectDecoupled subsystems
dc.subjectDynamic decoupling
dc.subjectPosition control
dc.subjectDual–drive gantry industrial robots
dc.subjectIndependent Modal Space Control (IMSC)
dc.titleModel-based decoupling control method for dual-drive gantry stages : A case study with experimental validations
dc.identifier.doi10.1016/j.conengprac.2012.10.010
dc.typdocArticle dans une revue avec comité de lecture
dc.localisationCentre de Aix en Provence
dc.localisationCentre de Lille
dc.subject.halSciences de l'ingénieur: Automatique / Robotique
ensam.audienceInternationale
ensam.pagePages 298-307
ensam.journalControl Engineering Practice
ensam.volumeVolume 21
ensam.issueIssue 3
hal.identifierhal-01081415
hal.version1
hal.statusaccept


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record