An article on Actuator Matrix Design for Over-Actuated Systems written by our colleagues Frank Sperling, Mathijs Schouten and by Georgo Angelis.

High-tech positioning systems demand high controller bandwidths and decoupling of various degrees of freedom (DoFs) for optimal performance. While typically requiring one actuator per controlled DoF, practical design often leads to over-actuation. This article demonstrates that over-actuation can enhance system performance by decoupling rigid-body and non-rigid-body resonance modes.

A must-read for engineers seeking improved performance and robustness in controlled systems! Dive into the full article Mikroniek 2024-2 – Actuator matrix design