A general co-ordinate transformation framework for multi-axis motion control with applications in the testing industry

@inproceedings{Plummer2010AGC,
  title={A general co-ordinate transformation framework for multi-axis motion control with applications in the testing industry},
  author={Andrew Plummer},
  year={2010}
}
Transforming feedback variables into a different co-ordinate system is a practical and effective way of simplifying controller design for multi-axis motion systems. A general transformation framework is presented in this paper for parallel-actuator systems, including those with overconstraint (i.e. with more actuators than rigid body degrees-of-freedom). Force control for the extra axes is considered, and appropriate transformations from measured actuator positions and forces to position and… CONTINUE READING

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Motion control for a redundantly actuated parallel electrohydraulic mechanism

  • 2015 International Conference on Fluid Power and Mechatronics (FPM)
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