Control of an 2-DOF electromagnetic actuator for high precision and high-throughput pick-and-place tasks

A linear-rotary (LR) direct-drive actuator is designed for IC chips Pick-and-place (PnP) application. The entire PnP process is designed with sequential motion of z and θ axes, where the accuracy is ensured by triggering of In-Position Signal. The decentralized PIV controllers with feedforward terms are carefully tuned to achieve the minimization of the settling time as well as maintenance of short raise time. After fine tuning of controller, the single LR actuator can pick and place up to 8000 IC chips per hour.

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