Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame

2011 ◽  
Author(s):  
Jiangzhao Yang ◽  
Zexiang Li ◽  
Hong Wang ◽  
Yunjiang Lou ◽  
Zhili Long
Keyword(s):  
Control Systems ◽  
Error Compensation ◽  
Contour Error ◽  
Coordinate Frame ◽  
Contouring Control

A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

2019 ◽  
Author(s):  
Can Yang ◽  
Zheng Chen ◽  
Bin Yao ◽  
Bobo Helian
Keyword(s):  
High Speed ◽  
Order Approximation ◽  
Contour Error ◽  
Coordinate Frame ◽  
Robust Controller ◽  
Contouring Control ◽  
Modeling Uncertainties ◽  
False Position ◽  
First Order Approximation ◽  
Control Application

Abstract In this paper, a strictly defined new orthogonal global task coordinate frame (NGTCF) based on the false position method is proposed for precision contouring control of biaxial systems. In contrast to the existed global task coordinate frame (GTCF), the value of the normal coordinate in NGTCF directly represents the contour error, rather than the first-order approximation. Moreover, different from the conventional GTCF just suitable for contours with explicit shape functions, the proposed NGTCF can be utilized in various complex contours. The false position method is adopted to calculate the curve coordinates of actual points in NGTCF. Then an adaptive robust controller (ARC) is designed to deal with the effects of strong coupling of the system dynamics in the task space and modeling uncertainties. The proposed NGTCF-based ARC contouring control strategy is tested on a linear motor driven biaxial industrial gantry. Experiments under different contouring tasks with high-speed and large-curvature are conducted to verify the effectiveness of the proposed method, and the experimental results confirm that the excellent contouring performance of the proposed approach can be achieved.

scholarly journals Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

2021 ◽  
Author(s):  
Puren Ouyang ◽  
Yuqi Hu ◽  
Wenhui Yue ◽  
Deshun Liu
Keyword(s):  
Control System ◽  
Translational Motion ◽  
Contour Error ◽  
Control Law ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
End Effector ◽  
Joint Level ◽  
Contouring Control

Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system.

Design of CNC Contour Error Compensation Based on Geometric Trajectory

2018 ◽  
Author(s):  
Wenshu Luo ◽  
Jiangang Li ◽  
Tinghua Zhang ◽  
Zongli Liu
Keyword(s):  
Error Compensation ◽  
Contour Error

Contouring Control of Biaxial Systems with Modified Reference Commands

2013 ◽  
Vol 328 ◽  
pp. 167-172
Author(s):  
Shyh Leh Chen ◽  
Hsien Sheng Hsu ◽  
Hung Shen Chiu ◽  
Ren Dar Yang ◽  
Chun Tai Yen
Keyword(s):  
Closed Loop ◽  
Inverse Model ◽  
Loop System ◽  
Inverse System ◽  
Contour Error ◽  
Closed Loop System ◽  
Contouring Control ◽  
System Output

This study is concerned with the contouring control of biaxial motion systems. It is well known that contour errors depend not only on the controller, but also on the reference command. Two problems are investigated in this paper. First, it is to find the reference command that will yield the minimum contour error. This is the problem of interpolation and acceleration/deceleration. Second, given a reference command, it is to find a modified reference command so that the system output will be as close to the reference command as possible. The design of the modified reference command utilizes the inverse model of the closed-loop system. In other words, the modified reference command can be considered as the output of the inverse system with the desired reference command as the input. It can be obtained by the convolution technique.

Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems

2014 ◽  
Vol 61 (7) ◽  
pp. 3490-3501 ◽  
Author(s):  
Yunjiang Lou ◽  
Hao Meng ◽  
Jiangzhao Yang ◽  
Zexiang Li ◽  
Jian Gao ◽  
...  
Keyword(s):  
Coordinate Frame ◽  
Contouring Control ◽  
Polar Coordinate

Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame

2013 ◽  
Author(s):  
Tyler A. Davis ◽  
Yung C. Shin ◽  
Bin Yao
Keyword(s):  
Robust Control ◽  
Control Problem ◽  
Research Work ◽  
Approximation Error ◽  
Adaptive Robust Control ◽  
Contour Error ◽  
Coordinate Frame ◽  
Tool Deflection ◽  
Machining Processes ◽  
Highly Nonlinear

The contour error of machining processes is defined as the difference between the desired and actual produced shape. Two major factors contributing to contour error are axis position error and tool deflection. A large amount of research work formulates the contour error in convenient locally defined task coordinate frames that are subject to significant approximation error. The more accurate global task coordinate frame (GTCF) can be used, but transforming the control problem to the GTCF leads to a highly nonlinear control problem. An adaptive robust control (ARC) approach is designed to control machine position in the GTCF, while directly accounting for tool deflection, to minimize the contour error. The combined GTCF/ARC approach is experimentally validated by applying the control to circular contours on a three axis milling machine. The results show that the proposed approach reduces contour error in all cases tested.

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