抄録
This paper presents a model-based feedforward compensation approach for the fast and precise positioning of a rotary table system with two drive actuators. In the system, since the interference force between the primary and slave actuators deteriorates the positioning performance in tables, the interference force as well as disturbance force is mathematically modeled to design a model-based feedforward compensation. The model can be adapted by an ordinary least-squares method to provide adaptive properties against disturbance variations. The effectiveness of the proposed approach has been verified by performing a series of numerical simulations and experiments with a prototype.
