Claims
- 1. Gantry control system comprising:
- a gantry machine including a transverse member supporting a payload;
- a pair of spaced apart structural members for supporting the transverse member;
- first and second spaced apart longitudinal motors for moving the transverse member in a longitudinal direction substantially perpendicular to the transverse member;
- a control system operating on a new coordinate system derived from the gantry machine coordinates, the new coordinate system including one linear coordinate representing the position of the payload in the longitudinal direction and one angular coordinate representing an angular deviation of the transverse member from perpendicular with respect to the longitudinal direction, the control system including a first closed-loop controller to control the linear coordinate to a commanded value and a second closed-loop controller to control the angular coordinate to a commanded value; and
- the control system further including means for converting the outputs of the first and second controllers into the gantry machine coordinates to generate signals to drive the first and second spaced apart longitudinal motors.
- 2. The gantry control system of claim 1 wherein the bandwidth of the first and second controllers are separated.
- 3. The gantry control system of claim 2 wherein the bandwidth of the closed-loop controller for controlling the angular coordinate is higher than the bandwidth of the closed-loop controller to control the linear coordinate.
- 4. The gantry control system of claim 1 further including a transverse motor for moving the payload along the transverse member.
Parent Case Info
This national application claims benefit of the priority of U.S. provisional application Ser. No. 60,040,256 filed Mar. 10, 1997 and entitled "Control of a Parallel Actuator Gantry Machine."
US Referenced Citations (2)
Number |
Name |
Date |
Kind |
4381608 |
Thormann et al. |
May 1983 |
|
5117348 |
Romero et al. |
May 1992 |
|