부산대학교 도서관

The dual-drive gantry has widespread industrial use. It is mechanically advantageous in terms of ease and cost of manufacture, low use of precision machined parts, power efficiency among the more significant features. However, control of the prototype gantry is not trivial. Inter-axis misalignment, manufacturing imperfections contribute to the difficulty of control. In addition to all the complexities of contemporary dualdrive gantries, our prototype's end-effector is actuated through a force with a fixed line of action. This causes a moment that de-synchronizes the motion of the parallel carriages. Furthermore, contemporary robust control schemes such as sliding mode control can excite hidden modes related to the flexure joints. An output-feedback control scheme that uses both an online parameter adaptation in conjunction with a robust integral signum of error (RISE) gain evolution is proposed. Experimental results show improvement of the proposed controller against a conventional RISE counterpart.