Name
Abstract | ||
|---|---|---|
The dynamic contouring errors attributed to a multiaxis robot performing a nonconstrained contouring process are discussed, and a way of interpreting this contouring error based on a relaxed performance measure is introduced. With this concept, multiaxis contouring errors can be reduced by matching axis delay times over a bounded frequency bandwidth rather than increasing loop gains in the axis controllers. A dynamic contouring error model is developed and used to establish axis-controller design criteria. Robust axis controllers are designed and implemented in a 6 d.o.f. Cartesian-type gantry robot. Test data are obtained to verify the performance of the controller design and to validate the error model |
Year | DOI | Venue |
|---|---|---|
1990 | 10.1109/ROBOT.1990.126298 | ICRA |
Keywords | Field | DocType |
error compensation,robots,6 d.o.f. cartesian-type gantry robot,axis delay times,bounded frequency bandwidth,dynamic contouring errors,multiaxis robot,nonconstrained process applications,error correction,application software,motion control,machine tools,aerodynamics,robot kinematics,testing | Controller design,Control theory,Simulation,Computer science,Control engineering,Bandwidth (signal processing),Test data,Robot,Contouring,Bounded function | Conference |
Volume | Issue | Citations |
1990 | 1 | 0 |
PageRank | References | Authors |
0.34 | 1 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ming-Yih Lee | 1 | 56 | 14.49 |
| Holt, T. | 2 | 0 | 0.34 |
| Sturn, A.J., Jr. | 3 | 0 | 0.34 |
| Bailey, Fredric N. | 4 | 0 | 0.34 |