Position Accuracy with Dual Motor Control for a Gantry-Tau Robot

Very high accuracy and a very high repeatability, both in the range of a few microns, is very hard to achieve with today's common serial robots. An approach utilizing the Gantry-Tau principle is used in my theses together with a dual motor control to eliminate the troublesome backlash rising from the mechanical limitations. Both hardware and software will be regarded and with an antagonistic control structure I will show that the accuracy of a few micron really can be achieved. To evaluate the regulators parameter and test the control strategies a command prompt was made for the serial communication and a graphical interface was also made for the Ethernet communication