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Sensors 2019, 19(8), 1756; https://doi.org/10.3390/s19081756

Development of a 3-PRR Precision Tracking System with Full Closed-Loop Measurement and Control

Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
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Received: 9 March 2019 / Revised: 30 March 2019 / Accepted: 2 April 2019 / Published: 12 April 2019
(This article belongs to the Special Issue Laser Sensors for Displacement, Distance and Position)
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Abstract

A 3-PRR (three links with each link consisting of a prismatic pair and two rotating pairs) parallel platform was designed for application in a vacuum environment. To meet the requirement of high tracking accuracy of the 3-PRR parallel platform, a full closed-loop control precision tracking system with laser displacement sensors and linear grating encoders was analysed and implemented. Equally-spaced laser displacement sensors and linear grating encoders were adopted not only for measurement but also for feedback control. A feed-forward control method was applied for comparison before conducting the closed-loop feedback control experiments. The closed-loop control experiments were conducted by adopting the PI (proportion and integration) feedback control and RBF (radial basis function) neural network control algorithms. The experimental results demonstrate that the feed-forward control, PI feedback control, and RBF neural-network control algorithms all have a better control effect than that of semi-closed-loop control, which proves the validity of the designed full closed-loop control system based on the combination of laser displacement sensors and linear grating encoders. View Full-Text
Keywords: full closed-loop; laser displacement sensor; linear grating encoder; 3-PRR parallel platform; precision tracking full closed-loop; laser displacement sensor; linear grating encoder; 3-PRR parallel platform; precision tracking
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Xie, L.-B.; Qiu, Z.-C.; Zhang, X.-M. Development of a 3-PRR Precision Tracking System with Full Closed-Loop Measurement and Control. Sensors 2019, 19, 1756.

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