Spatio-Temporal Analysis of Overactuated Motion Systems: A Mechanical Modeling Approach

Tacx, Paul; Teurlings, Matthijs; Habraken, Roel; Witvoet, Gert; Heertjes, Marcel; Oomen, T.A.E.

doi:10.1016/j.ifacol.2023.10.064

Spatio-Temporal Analysis of Overactuated Motion Systems

Title

Spatio-Temporal Analysis of Overactuated Motion Systems: A Mechanical Modeling Approach

Author

Tacx, Paul (Eindhoven University of Technology)
Teurlings, Matthijs (Eindhoven University of Technology)
Habraken, Roel (Eindhoven University of Technology; TNO)
Witvoet, Gert (Eindhoven University of Technology; TNO)
Heertjes, Marcel (Eindhoven University of Technology; ASML)
Oomen, T.A.E. (TU Delft Team Jan-Willem van Wingerden; Eindhoven University of Technology)

Date

2023

Abstract

Flexible dynamics in motion systems lead to inherent spatio-temporal system behavior. The aim of this paper is to develop an unified approach for the identification of modal models of spatio-temporal overactuated systems. The approach exploits the modal modeling framework and the overactuated setting to enhance the estimation of the spatial system behavior. The proposed approach is applied in an experimental case study. The case study considers an experimental overactuated stage and illustrates the effectiveness of the proposed approach.

Subject

Identification and control methods
Identification for Control
Mechatronic systems
Modeling
Motion Control Systems

To reference this document use:

http://resolver.tudelft.nl/uuid:3e8352fe-6715-4df4-a3e3-a7ef56ec3bd8

DOI

https://doi.org/10.1016/j.ifacol.2023.10.064

Source

IFAC-PapersOnLine, 56 (2), 8784-8789

Event

22nd IFAC World Congress, 2023-07-09 → 2023-07-14, Yokohama, Japan

Part of collection

Institutional Repository