Kinematic Modeling and Analysis of a Planar Micro-Positioner
Nicholas G. Dagalakis, John A. Kramar, E Amatucci, Robert Bunch
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.
November 10-15, 2001
Proceedings of the American Society for Precision Engineering
, Kramar, J.
, Amatucci, E.
and Bunch, R.
Kinematic Modeling and Analysis of a Planar Micro-Positioner, Proceedings of the American Society for Precision Engineering, Arlington, VA
(Accessed May 31, 2023)