Kinematic Modeling and Analysis of a Planar Micro-Positioner

Published

January 1, 2001

Author(s)

Nicholas G. Dagalakis, John A. Kramar, E Amatucci, Robert Bunch

Abstract

The static and dynamic performance of a control system depends on the accuracy of the mathematical model of the plant that is being controlled. In this work, the accuracies of a linear and a second-order kinematic model were evaluated for a two-dimensional, planar, micro-positioner plant. The model performances were evaluated for a variety of testing conditions including a variation of the number of test points, the addition of sensor noise, and six different least-squares fitting algorithms. In general, decreasing the number of fitting points or increasing the noise results in worse performance, as expected. The second-order model was better for low noise and larger data sets, but was worse under the more challenging conditions. All but one of the least-squares algorithms performed similarly well.

Volume

25

Conference Dates

November 10-15, 2001

Conference Location

Arlington, VA

Conference Title

Proceedings of the American Society for Precision Engineering

Pub Type

Conferences

Keywords

Kinematic, Micro-positioner, Model, Performance

Citation

Dagalakis, N. , Kramar, J. , Amatucci, E. and Bunch, R. (2001), Kinematic Modeling and Analysis of a Planar Micro-Positioner, Proceedings of the American Society for Precision Engineering, Arlington, VA (Accessed December 12, 2024)