Adaptive Feedforward control of a Flexure Based Hexapod

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic


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.
Original languageEnglish
Title of host publicationProceedings of the 2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems
PublisherAmerican Society for Precision Engineering
Number of pages5
ISBN (Print)978-1-887706-79-7
Publication statusPublished - May 2020
EventASPE Spring Topical Meeting 2020: Design and Control of Precision Mechatronic Systems - Virtual Meeting
Duration: 6 May 20208 May 2020


ConferenceASPE Spring Topical Meeting 2020
Internet address


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