Model-reference feedforward controller design for high-accuracy contouring control of machine tool axes

CIRP Annals ◽  
2011 ◽  
Vol 60 (1) ◽  
pp. 415-418 ◽  
Author(s):  
Atsushi Matsubara ◽  
Kotaro Nagaoka ◽  
Tomoya Fujita
Keyword(s):  
Machine Tool ◽  
Controller Design ◽  
High Accuracy ◽  
Model Reference ◽  
Contouring Control ◽  
Feedforward Controller

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

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