CN106227149A - A kind of galvanometer motor motion planning method shortening idle stroke positioning time - Google Patents
A kind of galvanometer motor motion planning method shortening idle stroke positioning time Download PDFInfo
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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Abstract
The invention discloses a kind of galvanometer motor motion planning method shortening idle stroke positioning time, set up assembly FEM (finite element) model and the nonlinear dynamic response FEM (finite element) model comprising kinesiology degree of freedom including step；Setup parameter movement function, and as boundary condition be applied to described in comprise kinesiology degree of freedom non-linear assembly FEM (finite element) model in；Carry out the resolving of galvanometer mechanism nonlinear finite element model, it is thus achieved that galvanometer mechanism kinematic response curve, calculate in real time relative to the location displacement of final position, velocity information；Judge whether galvanometer mechanism meets positioning accuracy request and obtain residual oscillation length die-away time used at this end；Obtain mass motion positioning time, and the mass motion time will be minimized as optimization aim；Obtain the optimized parameter of motion planning parameter.Compared with prior art, gained of the present invention taken into account final positioning precision and minimize the requirement on both side of positioning time to optimum results.
Description
Technical field
The present invention relates to galvanometer mechanism kinematic planning field, particularly relate to a kind of galvanometer electricity shortening idle stroke positioning time
Machine motion planning method.
Background technology
In field of laser processing such as laser markings, galvanometer motor is a kind of common driver part.Galvanometer motor is a kind of special
Different oscillating motor, can only perform deflection action.In field of laser processing, galvanometer sheet is fixed on the axle of galvanometer motor, passes through
The swing of galvanometer motor realizes the adjustment of optical path direction, and realizes Laser Processing.Owing to, in laser processing procedure, laser adds
, often there are some interruption parts that need not Laser Processing in work hot spot path not necessarily overall situation continuous path.Above-mentioned not
The discontinuities needing Laser Processing belongs to the idle stroke of laser process equipment.Reduce the time consumed in the motion of above-mentioned idle stroke
Play an important role for improving the work efficiency of laser process equipment.Due to Laser Processing idle stroke section in, intermediary movements section
Motion conditions on not impact such as Laser Processing precision etc., only follow-up is just swashed by the motion positions precision of the end of idle stroke
There is impact in the light course of processing.Therefore, should use to meet minimizing of end positioning accuracy request in above-mentioned idle stroke section total
The motion planning model of body positioning time.
Owing to when high speed jerk swings, the galvanometer sheet of little quality is susceptible to shake, the shake of above-mentioned galvanometer sheet can be at light
Cause the shake that laser beam on work surface is bigger under the enlarge-effect effect of road, and reduce the residual jitter in above-mentioned position fixing process and need
Expend certain galvanometer sheet residual oscillation die-away time.Therefore, how to shake in preventing fast idle point position motor process
The general location time reducing galvanometer sheet while the eyeglass excessive residual oscillation of generation becomes of raising Laser Processing efficiency
Key issue.
Move due to the idle stroke of galvanometer sheet and belong to typical some position motion, the most all can use S type motion planning curve
Motion planning as galvanometer motor.But owing to classical S type motion planning curve is merely by considering motion song
The geometric smoothness of line carries out mechanism kinematic planning and designing, does not take into full account the execution unit during mechanism kinematic
There is elastic vibration problem, motion needs certain residual oscillation will be caused could to meet required precision, not die-away time
The stationarity of motion and minimizing of general location time can be taken into account.
Patent 201310460878.9 proposes a kind of high-speed mechanism and reduces the S type curve movement planning side of residual oscillation
Method, by increasing by one section of section die-away time considering residual oscillation impact in conventional S type curve movement planing method, and builds
Vertical accordingly with the Optimized model of the minimum target of section die-away time motion planning time+described.During decay described in patent
Between section be mechanism with high speed motion after motion planning end time for ensureing that residual oscillation amplitude is less than position error institute allowable
The time quantum needed.Above-mentioned die-away time section by abs (s-s*)+abs (v) < ε, (wherein s, s*, v, ε are respectively moving displacement, phase
Hope displacement, movement velocity, position error allowable) obtain.Patent 201310460878.9 is based on traditional S type curve movement
The Optimized model of planning contains the residual oscillation die-away time of above-mentioned acquisition, obtains revised integrated motion plan optimization
Model.
Patent 201410255068.4 proposes a kind of asymmetric fluctuating acceleration based on dominant frequency energy time domain Optimal Distribution rule
The method of drawing, utilizes Nonlinear FEM Simulation analysis to obtain the location of the motion under parametrization asymmetrical movement function drive
Residual oscillation response course, and (wherein s, s*, v, ε are respectively moving displacement, expectation position to utilize abs (s-s*)+abs (v) < ε
Shifting, movement velocity, position error allowable) judgment criterion carrys out movement executing mechanism residual oscillation and meets the remnants needed for required precision
Vibrate die-away time.Residual oscillation amplitude is necessarily less than by patent 201410255068.4 by introducing in optimizing and analyzing model
The analysis constraint of position error allowable obtains comprehensive optimal motion planning function parameter.
The integrated motion plan optimization algorithm that patent 201310460878.9 and patent 201410255068.4 are provided is equal
Can be used for meeting positioning precision and minimizing the optimal motion planning of the requirements such as general location time needed for obtaining galvanometer mechanism
Parameter.The core point of above-mentioned patent is all the judgement to residual oscillation amount die-away time meeting positioning accuracy request.Upper
Stating in patent, the acquisition used meets the location allowable employed in the judgment criterion used by motion positioning accuracy request
Precision ε does not all have direct physical significance, broadly falls into a kind of approximation relative indicatrix relevant to true sprocket bit shift error allowable.
Owing to positioning precision ε allowable in above-mentioned patent is only a kind of relative indicatrix, and in actual complex operating mode same accuracy
The ε used by motion required is not necessarily the same, the ε in judgment criterion used by the most above-mentioned patent and true position error allowable
There is not a clear and definite functional relationship, this will cause the final motion planning optimum results of above-mentioned patent not necessarily
Join the optimal motion planning of true positioning accuracy request.
Summary of the invention
For overcoming the deficiencies in the prior art, the present invention proposes a kind of galvanometer mechanism kinematic rule shortening idle stroke positioning time
The method of drawing, for obtaining the optimized parameter of the motion planning function used of general location shortest time.
The technical scheme is that such: a kind of galvanometer motor motion planning side shortening idle stroke positioning time
Method, including step
S1: according to the geometric model of galvanometer mechanism, set up the assembly FEM (finite element) model comprising kinesiology degree of freedom, and create
Build the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom；
S2: setup parameter movement function, and as boundary condition be applied to described in comprise kinesiology degree of freedom
In non-linear assembly FEM (finite element) model；
S3: utilize the described galvanometer mechanism nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom and described ginseng
Numberization movement function boundary condition, and carry out the resolving of galvanometer mechanism nonlinear finite element model, it is thus achieved that described galvanometer mechanism exists
Motion picture response curve under described Parametric motion functional boundary conditioning, calculates the position relative to location final position in real time
Shifting, velocity information；
S4: utilize described motion positions residual oscillation displacement and speed responsive come real-time judge galvanometer mechanism whether meet fixed
Position required precision, the galvanometer mechanism nonlinear finite element model in repeated execution of steps S3 resolves, and wants until meeting positioning precision
Ask, and obtain this end time and motion planning end time TplanDifference be residual oscillation length T die-away time usedres；
S5: by described residual oscillation T die-away timeresAnd motion driving time TplanSummation obtains mass motion location
Time Ttotal(=Tres+Tplan), and T will be minimizedtotalAs optimization aim；
S6: judge T by iteration convergencetotalWhether it is minima, if TtotalFor minima, then in corresponding iterative process
Motion planning parameter be optimized parameter, if TtotalIt not minima, then calculate the excellent of kinematic parameter based on gradient optimal method
Change the direction of search and step-size in search, and update the Parametric motion function in S3 step, return S3 step and be iterated calculating.
Further, step S1 creates the method bag of the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom
Include step
S11: carry out FEM meshing and material properties defining operation according to the 3-D geometric model of galvanometer mechanism, build
The FEM (finite element) model of vertical galvanometer mechanism；
S12: create constraint of kinematic pair at the movable joint of mechanism part, thus set up in finite element analysis environment and shake
Illuminating apparatus structure comprises the assembly FEM (finite element) model of kinesiology degree of freedom；
S13: apply Parametric motion functional boundary condition driving joint；
S14: create complete non linear finite element analysis and resolve model.
Further, step S4 judging, whether galvanometer mechanism meets the method for positioning accuracy request and include step
S41: the displacement of residual oscillation course of galvanometer mechanism located terminal end, the velocity information obtained in step S3 is carried out
Fast Fourier transform and bandpass filtered signal process (or measuring each modal information in phantom respectively), it is thus achieved that galvanometer machine
Each rank natural frequency ω of structurei(i=1..n) the displacement s and in the galvanometer mechanism residual oscillation course of correspondencei(t), speed vi
(t) signal；
S42: utilize described natural frequency ωiWith displacement si(t), speed vi(t) signal acquisition each rank natural frequency ωiInstitute
Corresponding displacement si(t) and speed vi(t) time domain course curve, and utilize formulaObtain each rank
Natural frequency ωiCorresponding energy envelope line Ei(t), described energy envelope line EiT the amplitude of () is that galvanometer mechanism is in t
Natural frequency ωiThe equivalent potential energy maximum displacement of corresponding temporal motion course energy；
S43: to described each rank natural frequency ωiCorresponding energy envelope line EiT () is overlapped, it is thus achieved that gross energy envelope
Line ESum(t)；
S44: by described gross energy envelope ESumT the amplitude of () displacement error allowable with motion value compares, work as total energy
Amount envelope ESumWhen the amplitude of () is less than motion displacement error allowable t, then this in moment galvanometer mechanism meet positioning precision
Requirement.
The beneficial effects of the present invention is, compared with prior art, the present invention has taken into full account the null in galvanometer mechanism
The design constraint of journey point position motion operating mode, gained taken into account final positioning precision and minimize positioning time to optimum results
Requirement on both side, described optimization process can be further applied to be controlled and the complex optimum of structure；Meanwhile, the present invention
Final positioning precision decision criteria used has clear and definite physical significance, and have employed expression-form based on equivalent energy,
The erroneous judgement avoiding only considering vibration displacement curve and cause；Again, the final positioning precision decision criteria used by the present invention meets
Real-time judgment demand, is conducive to using in the occasions high to calculating requirement of real-time such as motion control card.
Accompanying drawing explanation
Fig. 1 is the present invention based on the shortest galvanometer mechanism kinematic planing method flow chart positioning time；
Fig. 2 is the algorithm flow chart of the present invention；
Fig. 3 is that the present invention judges positioning precision residual oscillation schematic diagram under multi-modal operating mode；
Fig. 4 is that the residual oscillation that shown in Fig. 3, under multi-modal operating mode, 1 rank basic frequency is corresponding analyzes schematic diagram；
Fig. 5 is that the residual oscillation that under multi-modal operating mode shown in Fig. 3,2 rank basic frequencies are corresponding analyzes schematic diagram；
Fig. 6 is that the residual oscillation that under multi-modal operating mode shown in Fig. 3,3 rank basic frequencies are corresponding analyzes schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, a kind of galvanometer mechanism kinematic planing method the shortest based on positioning time, including step
S1: according to the geometric model of galvanometer mechanism, set up the assembly FEM (finite element) model comprising kinesiology degree of freedom, and create
Build the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom；
S2: setup parameter movement function, and as boundary condition be applied to described in comprise kinesiology degree of freedom
In non-linear assembly FEM (finite element) model；
S3: utilize the described galvanometer mechanism nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom and described ginseng
Numberization movement function boundary condition, obtains described galvanometer mechanism by emulation and makees in described Parametric motion functional boundary condition
Motion response under with, and calculate relative to the location displacement of final position, speed；
S4: utilize described relative to the location displacement of final position, speed come real-time judge galvanometer mechanism whether meet fixed
Position required precision, the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom of the galvanometer mechanism in repeated execution of steps S3
Resolving, until meeting positioning precision determination requirement, and obtaining this end time and motion planning time TplanBetween difference for used
Residual oscillation T die-away timeres；
S5: by described residual oscillation T die-away timeresAnd motion driving time TplanSummation obtains whole 3 body motion positions
Time Ttotal(=Tres+Tplan), and T will be minimizedtotalAs optimization aim；
S6: judge current and previous T by iteration convergencetotalThe most close, if TtotalRelative deviation is less than a certain
Error, then the motion planning parameter in corresponding iterative process is optimized parameter, otherwise, then calculate fortune based on gradient optimal method
The Optimizing Search direction of dynamic parameter and step-size in search, and update the Parametric motion function in S3 step, return S3 step and carry out
Iterative computation.
The method creating the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom in step sl includes step
S11: carry out FEM meshing and material properties defining operation according to the 3-D geometric model of galvanometer mechanism, build
The FEM (finite element) model of vertical galvanometer mechanism；
S12: create constraint of kinematic pair at the movable joint of mechanism part, thus set up in finite element analysis environment and shake
Illuminating apparatus structure comprises the assembly FEM (finite element) model of kinesiology degree of freedom；
S13: apply Parametric motion functional boundary condition driving joint；
S14: create complete nonlinear response finite element analysis and resolve model.
Judge whether galvanometer mechanism meets the method for positioning accuracy request and include step in step s 4
S41: the displacement of galvanometer mechanism located terminal end, the velocity-response curve obtained in step S3 is carried out fast Fourier
Conversion and the signal processing of bandpass filtering, it is thus achieved that each rank natural frequency ω of galvanometer mechanismiAnd the galvanometer of correspondence (i=1..n)
Displacement s in mechanism's residual oscillation coursei(t) and speed vi(t) motor message；
S42: according to described natural frequency ωiWith displacement si(t), speed viT () signal, utilizes formulaObtain each rank natural frequency ωiCorresponding energy envelope line Ei(t), described energy envelope
Line EiT the amplitude of () is that galvanometer mechanism is at t natural frequency ωiThe equivalent potential energy of corresponding temporal motion course energy
Maximum displacement；
S43: to described each rank natural frequency ωiCorresponding energy envelope line EiT () is overlapped, it is thus achieved that gross energy envelope
Line ESum(t)；
S44: by described gross energy envelope ESumT the amplitude of () displacement error allowable with motion value compares, work as total energy
Amount envelope ESumWhen the amplitude of () is less than motion displacement error allowable t, then this in moment galvanometer mechanism meet positioning precision
Requirement.
The principle of end positioning precision judgment criterion is as follows in the present invention:
According to Fourier transform principle, complicated Vibration Condition can be decomposed into the superposition of some simple harmonic oscillations.Assuming that fortune
Each rank THE CURVES ON WHICH A POINT MASS OSCILLATES HARMONICALLY equation in dynamic end residual oscillation is si(t)=Aie-αtsin(ωiT), wherein AiFor frequency of vibration
ωiThe amplitude of oscillating curve, α is system structure damping.The vibration velocity equation of above-mentioned each rank simple harmonic oscillation isIn above-mentioned simple harmonic oscillation course, the vibrational energy of each moment point
It is the kinetic energy at this moment point and potential energy sum, i.e.By above-mentioned total energy expression
Be converted to equal potential energy expression-form can obtain
By analogy general potential energy expression formulaCan be seen thatFor gross energy in simple harmonic oscillation course
Corresponding equal potential energy maximum displacement.And substantially,Energy envelope curve is ωiFrequency simple harmonic oscillation
The high accuracy approximation approximating curve of vibration displacement envelope curve.Therefore can useEnergy envelope curve
As ωiThe displacement envelope curve of frequency simple harmonic oscillation, is used for vibrating precision and judges.
Due toIt is to derive from energy point of view, according to the scalar nature of energy, the letter of multiple frequencies
The gross energy envelope that complex vibration curve after harmonic motion superposition is corresponding is the energy envelope line that each rank frequency of vibration is corresponding
Superposition and, i.e.According to ESumT the vibrational energy of complex vibration can be carried out by () amplitude
Quickly judge, and then judge whether the residual oscillation amplitude in this moment meets positioning accuracy request.
The embodiment that positioning precision used in the carried motion planning of the present invention judges is as seen in figures 3-6.
S (t) residual oscillation displacement curve shown in Fig. 3 is that motion location under set motion planning model cootrol is remaining
Vibration course curve.In Fig. 3, solid line represents s (t) residual oscillation displacement curve, and dotted line represents gross energy envelope.Described s (t)
The time zero of displacement curve is the end time of former setting motion planning curve, and described vibration displacement is that motion is relative
The displacement of locating endpoints.Also due to the factor such as structural damping that motion itself exists, the energy of motion along with time
Between course gradually decay.In the present embodiment, motion mainly comprises 3 natural frequencies.3 described natural frequencies are permissible
By s (t) residual oscillation displacement curve is carried out Fourier transformation analysis acquisition.As it is shown on figure 3, due in multi-modal operating mode
Motion comprises multiple natural frequency, causes directly being difficult to directly utilize s (t) to original s (t) residual oscillation displacement curve
Residual oscillation displacement curve carries out positioning precision judgement.
In 3 mode operating mode embodiments described in Fig. 3, obtain first with signal analysis means such as fast Fourier transforms
Each rank basic frequency, then utilizes the modes such as bandpass filtering to extract each rank basic frequency from original s (t) residual oscillation displacement curve
ωiThe vibration response curve that (i=1,2,3) is corresponding, the s in respectively Fig. 4-Fig. 6i(t) (i=1,2,3) vibration displacement response song
Line.In Fig. 4-Fig. 6, solid line represents each rank dominant frequency displacement response curve, and long phantom line segments represents each order frequency/natural frequency displacement
Curve, short dash line section represents each rank equivalent energy envelope.Owing to ringing according to each rank basic frequency each vibration displacement isolated
Answer curve can essentially be equivalent to some single mode operating modes etc., therefore can utilize the processing method identical with single mode operating mode
Obtain siT energy envelope line that () (i=1,2,3) vibration displacement response curve is correspondingFinally by above-mentioned each rank basic frequency ωiCorresponding energy envelope line Ei(t) displacement
Envelope carries out amplitude superposition and obtains gross energy envelope ESum(t).By gross energy envelopeComparison between amplitude and vibration displacement error allowable judges under multi-modal operating mode
Whether motion has positioned.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (3)
1. the galvanometer motor motion planning method shortening idle stroke positioning time, it is characterised in that include step
S1: according to the geometric model of galvanometer mechanism, sets up the assembly FEM (finite element) model comprising kinesiology degree of freedom, and establishment contains
The nonlinear dynamic response FEM (finite element) model of kinesiology degree of freedom；
S2: setup parameter movement function, and as boundary condition be applied to described in comprise kinesiology degree of freedom non-thread
In property assembly FEM (finite element) model；
S3: utilize the described galvanometer mechanism nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom and described parametrization
Movement function boundary condition, and carry out the resolving of galvanometer mechanism nonlinear finite element model, it is thus achieved that described galvanometer mechanism is described
Motion picture response curve under Parametric motion functional boundary conditioning, calculate in real time the displacement relative to location final position,
Velocity information；
S4: utilize described motion positions residual oscillation displacement and speed responsive to come whether real-time judge galvanometer mechanism meets positioning accurate
Degree requirement, the galvanometer mechanism nonlinear finite element model in repeated execution of steps S3 resolves, until meeting positioning accuracy request, and
Obtain this end time and motion planning end time TplanDifference be residual oscillation length T die-away time usedres；
S5: by described residual oscillation T die-away timeresAnd motion driving time TplanSummation obtains mass motion positioning time
Ttotal(=Tres+Tplan), and T will be minimizedtotalAs optimization aim；
S6: judge T by iteration convergencetotalWhether it is minima, if TtotalFor minima, the then motion in corresponding iterative process
Projecting parameter is optimized parameter, if TtotalIt not minima, then calculate the Optimizing Search of kinematic parameter based on gradient optimal method
Direction and step-size in search, and update the Parametric motion function in S3 step, return S3 step and be iterated calculating.
2. the galvanometer motor motion planning method shortening idle stroke positioning time as claimed in claim 1, it is characterised in that step
The method creating the nonlinear dynamic response FEM (finite element) model containing kinesiology degree of freedom in rapid S1 includes step
S11: carrying out FEM meshing and material properties defining operation according to the 3-D geometric model of galvanometer mechanism, foundation is shaken
The FEM (finite element) model of illuminating apparatus structure；
S12: create constraint of kinematic pair at the movable joint of mechanism part, thus set up galvanometer machine in finite element analysis environment
Structure comprises the assembly FEM (finite element) model of kinesiology degree of freedom；
S13: apply Parametric motion functional boundary condition driving joint；
S14: create complete non linear finite element analysis and resolve model.
3. the galvanometer motor motion planning method shortening idle stroke positioning time as claimed in claim 1, it is characterised in that step
Rapid S4 judging, whether galvanometer mechanism meets the method for positioning accuracy request and include step
S41: the displacement of residual oscillation course of galvanometer mechanism located terminal end, the velocity information obtained in step S3 is carried out quickly
Fourier transformation and bandpass filtered signal process (or measuring each modal information in phantom respectively), it is thus achieved that galvanometer mechanism
Each rank natural frequency ωi(i=1..n) the displacement s and in the galvanometer mechanism residual oscillation course of correspondencei(t), speed vi(t)
Signal；
S42: utilize described natural frequency ωiWith displacement si(t), speed vi(t) signal acquisition each rank natural frequency ωiCorresponding
Displacement si(t) and speed vi(t) time domain course curve, and utilize formulaObtain the intrinsic frequency in each rank
Rate ωiCorresponding energy envelope line Ei(t), described energy envelope line EiT the amplitude of () is that galvanometer mechanism is at the intrinsic frequency of t
Rate ωiThe equivalent potential energy maximum displacement of corresponding temporal motion course energy；
S43: to described each rank natural frequency ωiCorresponding energy envelope line EiT () is overlapped, it is thus achieved that gross energy envelope ESum
(t)；
S44: by described gross energy envelope ESumT the amplitude of () displacement error allowable with motion value compares, when gross energy bag
Winding thread ESumWhen the amplitude of () is less than motion displacement error allowable t, then this in moment galvanometer mechanism meet positioning precision and want
Ask.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107351087A (en) * | 2017-08-29 | 2017-11-17 | 成都乐创自动化技术股份有限公司 | A kind of crawl response control mehtod and system |
| CN113241319A (en) * | 2021-05-31 | 2021-08-10 | 广东工业大学 | Rapid positioning method and system |
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| CN103513575A (en) * | 2013-10-08 | 2014-01-15 | 广东工业大学 | S-shaped movement curve planning method for reducing residual oscillation of high-speed mechanism |
| CN103530272A (en) * | 2013-09-26 | 2014-01-22 | 广东工业大学 | Determining method used for defining mechanism motion high-speed area |
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| JPS58223807A (en) * | 1982-06-22 | 1983-12-26 | Kobe Steel Ltd | Preventing method of gunshot vibration of robot at stopping |
| JPS6383807A (en) * | 1986-09-29 | 1988-04-14 | S G:Kk | Compensating system for angle of lead in position control |
| WO2002077484A2 (en) * | 2001-03-26 | 2002-10-03 | Cymer, Inc. | Method and device for vibration control |
| CN103530272A (en) * | 2013-09-26 | 2014-01-22 | 广东工业大学 | Determining method used for defining mechanism motion high-speed area |
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| CN106227149B (en) | 2018-10-19 |
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