Abstract
In this paper, the dynamics of the dual-drive gantry stage with mechanical coupling are analyzed. Analysis of the dynamics of the gantry stage from the point of view of the conventional actuator has a significant coupling effect, so the motion of each actuator cannot be separated. On the other hand, in the analysis in terms of task motion, the dynamics of the gantry stage effectively decouple the linear and rotational motions. For this, the actuator-based dynamics are theoretically minimized through singular value decomposition and transformed into a task motion perspective. In addition, it is verified by simulating the frequency response characteristics of how dynamics are affected by changes in the physical environment of the gantry.
| Original language | English |
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| Title of host publication | 2022 IEEE 31st International Symposium on Industrial Electronics, ISIE 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1053-1058 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781665482400 |
| DOIs | |
| State | Published - 2022 |
| Event | 31st IEEE International Symposium on Industrial Electronics, ISIE 2022 - Anchorage, United States Duration: 1 Jun 2022 → 3 Jun 2022 |
Publication series
| Name | IEEE International Symposium on Industrial Electronics |
|---|---|
| Volume | 2022-June |
Conference
| Conference | 31st IEEE International Symposium on Industrial Electronics, ISIE 2022 |
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| Country/Territory | United States |
| City | Anchorage |
| Period | 1/06/22 → 3/06/22 |
Bibliographical note
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