Open Access
Table 4
Comparison table of the tree control laws.
| Control laws | Max error (10−3 m) | tr5% (s) | Gain | Time needed for a precision of 1 μm (s) | End effector precision (m) | |
|---|---|---|---|---|---|---|
|
|
||||||
| X | Y | |||||
| MBC | 1.1 | 0.58 | 0.0143 | Kp = 122500 Kd = 700 |
0.913 | 10−9 |
| Rigid | 1.4 | 0.6 | 0.3846 | Kp = 169 Kd = 26 |
1.498 | 10−6 |
| Feedforward | 1.2 | 0.58 | 0,103 | Kp = 4441 Kd = 184 |
1.0205 | 10−6 |
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