Abstract
This paper considers point-to-point motion control of a compliant Cartesian two-axes mechanism as used in the circuit-board assembly industry. The investigation demonstrates how high-precision manufacturing tasks can be optimized by the integration of robot link design and control system design. A gain-scheduled H ∞ control method is applied to achieve three goals: compensate for the varying mass distribution, suppress structural bending vibrations and friction disturbances, and at the same time achieve a small motion settling time. A trade-off between mass reduction and motion time reduction is shown via a simulation study related to an industry-grade prototype gantry robot.
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