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Reducing position error of cantilevered loads in motion systems

Refaat, Sameh and Nahavandi, Saeid 2001, Reducing position error of cantilevered loads in motion systems, in 2001 IEEE International Conference on Systems, Man & Cybernetics : e-systems and e-man for cybernetics in cyberspace : October 7-10, 2001, Tucson Convention Center, Tucson, Arizona, United States, IEEE Xplore, Piscataway, N.J., pp. 3175-3180.

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Title Reducing position error of cantilevered loads in motion systems
Author(s) Refaat, Sameh
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Conference name IEEE International Conference on Systems, Man, and Cybernetics (2001 : Tucson, Ariz.)
Conference location Tucson, Arizona
Conference dates 7-10 Oct. 2001
Title of proceedings 2001 IEEE International Conference on Systems, Man & Cybernetics : e-systems and e-man for cybernetics in cyberspace : October 7-10, 2001, Tucson Convention Center, Tucson, Arizona, United States
Editor(s) Wang, Fei-Yue
Publication date 2001
Conference series IEEE International Conference on Systems, Man, and Cybernetics
Start page 3175
End page 3180
Publisher IEEE Xplore
Place of publication Piscataway, N.J.
Summary The positioning error of a large cantilevered mass that is actuated at its supported end is minimized as this mass travels at challenging high speeds and accelerations. An integrated approach is adopted to realize the task. After selecting the appropriate actuator that would provide higher rigidity, the system is viewed as a multi-degree of freedom system, and hence the concept of system-generated disturbance is introduced. This allows the use of appropriate mechanical design considerations and a proper generation of the kinematics commands to minimize such disturbance. A disturbance observer is then designed to detect and compensate the remaining disturbance, hence minimizing the positioning error.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 0780370872
9780780370876
Language eng
Field of Research 091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1.1 Full written paper - refereed
Copyright notice ©2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30013743

Document type: Conference Paper
Collections: School of Engineering and Technology
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.