Hybrid actuation systems consist of two types of motors: constant velocity (CV)motor and servo (SV) motor. The CV motor can produce a large power but with apoor task flexibility. On the other hand, the SV motor has an excellent taskflexibility but with a small power capacity. Combination of these two types ofmotors into a coherent driver architecture for machine systems is extremelypromising, because they complement each other. Existing studies on the hybridactuation or machine system usually employ two servo motors, one of whichsubstitutes the CV motor. This treatment compromises the control accuracy forthe trajectory tracking at the end-effector. This paper presents a study on anew controller for the hybrid machine that considers one SV motor and one CVmotor and for trajectory tracking at the end-effector level. A comparison ofthis new controller with the controller we developed previously is provided. Afive-bar mechanism with two degrees of freedom is employed for the illustrationpurpose.
