NEWS 25 April 2024

Actuator matrix design for over-actuated systems

High-tech positioning systems require high controller bandwidths and the decoupling of the various degrees of freedom (DoFs) to obtain the best system performance.

Typically, one actuator is needed per actively controlled DoF, but practical design considerations often lead to an over-actuated system. In this Mikroniek article, it is shown, however, that the freedom provided by over-actuation can be used to not only decouple rigid-body modes, but also to isolate non-rigid-body resonance modes. Thus the performance and/or robustness of the controlled system is improved without actually having to add an additional control loop. (Image courtesy of Nobleo Technology)


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