Name
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. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.3390/a9040081 | ALGORITHMS |
Keywords | Field | DocType |
contour tracking,contour error,contouring control,robot,cross-coupled control,PD control,Jacobian,stability analysis | Lyapunov function,Computer vision,Nonlinear system,Jacobian matrix and determinant,Control theory,Computer science,Artificial intelligence,Control system,Serial manipulator,Robot,Contouring,Trajectory | Journal |
Volume | Issue | ISSN |
9 | 4 | 1999-4893 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| P. R. Ouyang | 1 | 39 | 7.90 |
| Yuqi Hu | 2 | 0 | 1.01 |
| Yue, W.H. | 3 | 3 | 1.20 |
| Deshun Liu | 4 | 3 | 2.79 |