Embodiments of the disclosure provide proportional integral derivative control (PID) using multiple actuators. In one embodiment, a process includes providing a PID controller in communication with a primary actuator and a secondary actuator, the primary actuator and the secondary actuator coupled to a handler. The process further includes receiving position feedback and a specified trajectory for the handler, and generating a dynamic feedforward force command and a position correction command for the handler based on the position feedback and the specified trajectory. The process further includes providing, from the PID controller, the dynamic feedforward force command to the secondary actuator and the position correction command to the primary actuator.

A servo control apparatus which includes: a difference calculation unit that calculates difference between an integral value of speed deviation of a master axis and an integral value of speed deviation of a slave axis; a filter unit that performs filtering of the difference by way of a low-pass filter; and an addition unit that adds a result of the filtering to the integral value of the speed deviation of the slave axis, in which a current command for driving the master-axis motor is calculated for the master axis by using the integral value of the speed deviation of the master axis; and a current command for driving the slave-axis motor is calculated for the slave axis by using an integral value after addition by way of the addition unit.

A first drive acts on a machine element via a transmission and a second drive acts on the machine element directly. First and second closed-loop speed controllers determine respective first and second setpoint force values for the first and second drives with the aid of the difference between the setpoint speed value and of the actual speed value and activate the first drive and/or the second drive as a function of the respective first and second setpoint force values. Respective first and second pilot force values are determined from a first axis inertia scaled by a first scaling factor (), and second axis inertia scaled by a second scaling factor (1).

A positioning arrangement is provided for moving an object that is to be positioned (9) with at least one positioning axis (11), wherein at least two electric motors (6) for moving the object that is to be positioned (9) are assigned to at least one positioning axis (11). Each electric motor (6) has its own separate control circuit (2), wherein the control circuits (2) are designed in each case to receive adjustment requests for a positioning direction. The control circuits (2) are furthermore designed in each case to evaluate the adjustment request and the electric motors (6) are interconnected via a communication interface (13). The adjustment requests and the movement commands to control the electric motors (6) can be exchanged via this communication interface (13).

Embodiments of the disclosure provide proportional integral derivative control (PID) using multiple actuators. In one embodiment, a process includes providing a PID controller in communication with a primary actuator and a secondary actuator, the primary actuator and the secondary actuator coupled to a handler, such as a robotic arm for manipulating an object. The process further includes receiving position feedback and a specified trajectory for the handler, and generating a dynamic feedforward force command and a position correction command for the handler based on the position feedback and the specified trajectory. The process further includes providing, from the PID controller, the dynamic feedforward force command to the secondary actuator and the position correction command to the primary actuator.

A positioning arrangement is provided for moving an object that is to be positioned (9) with at least one positioning axis (11), wherein at least two electric motors (6) for moving the object that is to be positioned (9) are assigned to at least one positioning axis (11). Each electric motor (6) has its own separate control circuit (2), wherein the control circuits (2) are designed in each case to receive adjustment requests for a positioning direction. The control circuits (2) are furthermore designed in each case to evaluate the adjustment request and the electric motors (6) are interconnected via a communication interface (13). The adjustment requests and the movement commands to control the electric motors (6) can be exchanged via this communication interface (13).