Abstract
Description: This presentation is treating the design and implementation of an adaptive feedforward controller for a flexible hexapod. This flexible hexapod is designed by the Precision Engineering group at the University of Twente. This hexapod combines a large workspace with high accelerations and the potential for high repeatability. An introduction is given to the working principle and specifications of the flexible hexapod.
Due to the flexible nature of the hexapod, the system has no friction and therefore allows for high repeatability. Proper motion control is required to unleash the full potential of the manipulator. Therefore, a feedback controller is developed aimed to realize this high repeatability. This is appended with a feedforward controller for high tracking performance. To cope with changes in the system, the feedforward controller is made adaptive. An efficient model structure and parameter estimation method allow for real time implementation of the feedforward controller as well as the parameter adaptation.
Due to the flexible nature of the hexapod, the system has no friction and therefore allows for high repeatability. Proper motion control is required to unleash the full potential of the manipulator. Therefore, a feedback controller is developed aimed to realize this high repeatability. This is appended with a feedforward controller for high tracking performance. To cope with changes in the system, the feedforward controller is made adaptive. An efficient model structure and parameter estimation method allow for real time implementation of the feedforward controller as well as the parameter adaptation.
| Original language | English |
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| Title of host publication | Proceedings of the 2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems |
| Publisher | American Society for Precision Engineering |
| Pages | 58-62 |
| Number of pages | 5 |
| ISBN (Print) | 978-1-887706-79-7 |
| Publication status | Published - May 2020 |
| Event | ASPE Spring Topical Meeting 2020: Design and Control of Precision Mechatronic Systems - Virtual Meeting Duration: 6 May 2020 → 8 May 2020 https://aspe.net/aspe-2020-spring-design-and-control-of-precision-mechatronic-systems/ |
Conference
| Conference | ASPE Spring Topical Meeting 2020 |
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| Period | 6/05/20 → 8/05/20 |
| Internet address |