Tracking and contour error control in CNC servo systems

Ramesh, R.; Mannan, MA; Poo, A.N.

doi:10.1016/j.ijmachtools.2004.08.008

Cited by 155 publications

(58 citation statements)

References 59 publications

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“…For example, the tracking error at point A is apparently larger than the one at point B, but from contouring control point of view, contouring error is defined as the shortest distance from the end-effector to the desired path, so the position A is preferable in the contouring process rather than B. A couple of features and problems of contour control systems can be found in the tutorial study by Ramesh et al (2005).…”

Section: Tracking and Contouring Controlmentioning

confidence: 99%

Coordinate Transformation Based Contour Following Control for Robotic Systems

Chen¹,

Peng²

2010

Advances in Robot Manipulators

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Section: Tracking and Contouring Controlmentioning

confidence: 99%

Coordinate Transformation Based Contour Following Control for Robotic Systems

Chen¹,

Peng²

2010

Advances in Robot Manipulators

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“…Contour tracking is very popular in many industrial applications such as welding, laser cutting, and machining [1][2][3][4], and contouring control is one of the most important tasks for robotics and computer numerical control machine tools [5][6][7][8][9]. One of the most important issues in machining is the reduction of contour errors to ensure the quality of machined parts.…”

Section: Introductionmentioning

confidence: 99%

“…Cheng [5] applied the fuzzy logic technology to deal with a free-form contour following problem by varying the feed rate of the system. Some surveys about the tracking and contour error control for CNC systems were presented in [6,7].…”

Section: Introductionmentioning

confidence: 99%

Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

Ouyang

et al. 2016

Algorithms

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Abstract: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.

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“…The second path taken by the researchers is concerned with the estimation of the contouring errors and contouring controller design based upon them. Extensive literature review in this research area has been provided in [2], so following literature survey will reference the works that are not included in this article or that are published afterwards. There are many methods for improving tracking accuracy in individual axes for multi axis systems, among them work in [3] has gained the most attention because the method of designing of feedforward controller assures the zero phase error in a sense of frequency response.…”

Section: Introductionmentioning

confidence: 99%

Contouring Controller for Precise Motion Control Systems

2013

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Original scientific paperThis paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references. Contour error is constructed using transformation of trajectory tracking errors. Transformation is computationally efficient and requires only reference velocity information. Contour controller is designed using sliding mode control. Experiments are performed on planar linear motion stage and significant contour error reduction is observed. Konturni regulator za precizne slijedne sustave. Učlanku se raspravlja o algoritmu za generiranje trajektorija, metodi za konstrukciju pogreške konture te o sintezi konturnog regulatora. U algoritum za generiranje trajektorija, korištena je kombinacija eliptičnih Fourierovih odrednika (EFD) i vremenske aproksimacije splajnovima (TBSA) za odre ivanje referentnih vrijednosti položaja, brzine i ubrzanja. Pogreška konture je konstruirana korištenjem transformirane pogreške slije enja trajektorije. Transformacija je računski efikasna i potrebna joj je samo informacija o referentnoj brzini. Konturni regulator je projektiran koristeći upravljanje u kliznim režimima. Provedeni su eksperimenti na linearnom slijednom sustavu i primijećena su znatna smanjenja pogreške konture.Ključne riječi: konturni regulator, precizni slijedni sustavi, vremenska interpolacija splajnovima, upravljanje u kliznim režimima, eliptični Fourierovi odrednici, upravljanje akceleracijom

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Tracking and contour error control in CNC servo systems

Cited by 155 publications

References 59 publications

Coordinate Transformation Based Contour Following Control for Robotic Systems

Coordinate Transformation Based Contour Following Control for Robotic Systems

Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

Contouring Controller for Precise Motion Control Systems

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