论文标题
依赖位置的快照：高斯流程框架
Position-Dependent Snap Feedforward: A Gaussian Process Framework
论文作者
论文摘要
机甲系统对运动控制的性能要求越来越高。柔性动力学的低频贡献，即合规性，应通过SNAP FEEDFORD来补偿，以实现高精度。通常在运动系统中发生的位置依赖性依从性，需要将feedforward参数建模为位置的函数。通过使用高斯工艺对snap feedforward参数建模作为位置的连续函数，可以补偿位置依赖性的依从性。对柔性光束的模拟表明，当使用高斯工艺快照参数来补偿位置依赖性依从性时，可以实现显着的性能提高。
Mechatronic systems have increasingly high performance requirements for motion control. The low-frequency contribution of the flexible dynamics, i.e. the compliance, should be compensated for by means of snap feedforward to achieve high accuracy. Position-dependent compliance, which often occurs in motion systems, requires the snap feedforward parameter to be modeled as a function of position. Position-dependent compliance is compensated for by using a Gaussian process to model the snap feedforward parameter as a continuous function of position. A simulation of a flexible beam shows that a significant performance increase is achieved when using the Gaussian process snap feedforward parameter to compensate for position-dependent compliance.
