JACoW is a publisher in Geneva, Switzerland that publishes the proceedings of accelerator conferences held around the world by an international collaboration of editors.
@inproceedings{matoso:icalepcs2023-tupdp005,
author = {J.V.E. Matoso and J.P.S. Furtado and J.P.B. Ishida and T.R. Silva Soares},
title = {{Improvements on Kinematics and Control of Granite Benches at LNLS-Sirius}},
% booktitle = {Proc. ICALEPCS'23},
booktitle = {Proc. 19th Int. Conf. Accel. Large Exp. Phys. Control Syst. (ICALEPCS'23)},
eventdate = {2023-10-09/2023-10-13},
pages = {485--488},
paper = {TUPDP005},
language = {english},
keywords = {controls, resonance, damping, real-time, timing},
venue = {Cape Town, South Africa},
series = {International Conference on Accelerator and Large Experimental Physics Control Systems},
number = {19},
publisher = {JACoW Publishing, Geneva, Switzerland},
month = {02},
year = {2024},
issn = {2226-0358},
isbn = {978-3-95450-238-7},
doi = {10.18429/JACoW-ICALEPCS2023-TUPDP005},
url = {https://jacow.org/icalepcs2023/papers/tupdp005.pdf},
abstract = {{At the Brazilian Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision. Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors. The solution of the inverse kinematics was done numerically by the Newton Raphson method. By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates. This paper also shows the results of adding a notch filter to the position servo control loop of the granite benches to increase stability due to their mass-spring-damper characteristics. The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder. Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased. }},
}