A novel iteration-based controller for hybrid machine systems for trajectory tracking at the end-effector level

摘要

Hybrid actuation systems consist of two types of motors: constant velocity (CV) motor and servo (SV) motor. The CV motor can produce a large power but with a poor task flexibility. On the other hand, the SV motor has an excellent task flexibility but with a small power capacity. Combination of these two types of motors into a coherent driver architecture for machine systems is extremely promising, because they complement each other. Existing studies on the hybrid actuation or machine system usually employ two servo motors, one of which substitutes the CV motor. This treatment compromises the control accuracy for the trajectory tracking at the end-effector. This paper presents a study on a new controller for the hybrid machine that considers one SV motor and one CV motor and for trajectory tracking at the end-effector level. A comparison of this new controller with the controller we developed previously is provided. A five-bar mechanism with two degrees of freedom is employed for the illustration purpose.