3-DOF closed-loop control for planar linear motors
- 27 November 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2488-2493
- https://doi.org/10.1109/robot.1998.680715
Abstract
Planar linear motors (Sawyer motors) have beenused in industry as open-loop stepping motors, buttheir robustness and versatility has been limited. Usinga sensor recently integrated into such a motor, aclosed-loop 3-DOF controller has been implemented.The software-based control system consists of a commutatorfor computing amplifier currents from actuatorforces, a force resolution function for solving the redundantactuation and saturation problems, and an observerfor producing a velocity ...Keywords
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