NDLI: Natural local approximation based contouring control for free-form contours

Content Provider	IEEE Xplore Digital Library
Author	Hao Meng Yunjiang Lou Jiangpeng Zhou
Copyright Year	2013
Description	Author affiliation: Shenzhen Key Lab. for Adv. Motion Control & Modern Autom. Equipments, Harbin Inst. of Technol., Shenzhen, China (Hao Meng; Yunjiang Lou; Jiangpeng Zhou)
Abstract	In this paper, a novel contouring control method based on natural local approximation of desired contour in task frame is proposed for multi-axis control systems. Based on local geometry properties, natural local approximation can achieve more accurate contouring error estimation compared with other local approximation methods for both planar and spatial contouring tasks. The contouring controller, integrated with a PD controller cooperated with the feedback linearization technique and a feedforward compensation, is designed to realize the decoupling control of estimated errors in the task frame. Contouring performance can then be improved directly by increasing corresponding controller parameters. Simulations of 3-axis system and experiments on biaxial XY-stage verified that our proposed method can reduce the contouring errors dramatically in high speed and large curvature cases compared with first-order based method.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4434
Ending Page	4439
File Size	458162
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696993
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Approximation methods Error analysis Control systems Equations Taylor series Vectors Friction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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