Practical Control Method for Two-Mass Rotary Point-To-Point Positioning Systems

Abstract

Motion control systems play an important role in industrial engineering applications such as advanced manufacturing systems, semiconductor manufacturing system, computer numerical control (CNC) machining and robot systems. In general, positioning system can be classified into two types, namely point-to-point (PTP) positioning systems and continuous path (CP) control system (Crowder R.M, 1998). PTP positioning systems, either of one-mass or multi-mass systems, is used to move an object from one point to another point either in angular or linear position. For example, in application with one-mass system, such as CNC machines, PTP positioning is used to accurately locate the spindle at one or more specific locations to perform operations, such as drilling, reaming, boring, tapping, and punching. In multi-mass systems application, such as in spot-welding robot, which has a long arm for linear system or long shaft in rotary system, PTP positioning is used to locate the manipulator from one location to another.