GANTRY POSITION TRACKING USING REDUNDANT POSITION SENSORS

摘要

An x-y robotic motion control system (300) includes a controller (314), a first rail and a second rail (310) spaced from the first rail (308) wherein the first and second rails (308, 310) are substantially parallel to one another. A gantry (302) has a first end (304) movable along the first rail (308) and a second end (306) movable along the second rail (310). A payload (320) is movable along the gantry (302) and a position sensor (328) is movable along the gantry (302) with the payload (320). A first encoder (316) is configured to detect the first end (304) of the gantry (302) with respect to the first rail (308), and a second encoder (324) is configured to detect the second end (306) of the gantry (302) with respect to the second rail (310). The position sensor (328) and the first and second encoders (316, 324) are coupled to the controller (314), which calculates a position of the payload (320) as a function of signals from the position sensor 328) and the first and second encoders (316, 324).