Name
Abstract | ||
|---|---|---|
Contouring motion control is a critical issue for multi-axis machining in modern industry. This paper presents a three-dimensional global task coordinate frame (3D-GTCF) based contouring control method. Compared to the existed GTCF, which can only be used for 2-D contouring tasks, the proposed task coordinate frame is designed for the 3-D curve. By integrating a numerical method to calculate the contouring error and the corresponding transformation matrix, the pro-posed approach is able to tackle complex free-form contouring following tasks without their explicit analytical expressions. It’s noted that the construction of the proposed 3-D task coordinates is only determined by the geometric shape of the desired contour, and is not relevant to the desired motion on the contour. Then a direct/indirect adaptive robust controller is adopted to realize contour control in the task space. Simulation results under different contouring tasks validate the effectiveness of the proposed 3D-GTCF based contour control approach. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/AIM52237.2022.9863352 | 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
DocType | ISSN | ISBN |
Conference | 2159-6247 | 978-1-6654-1309-1 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Can Yang | 1 | 726 | 43.12 |
| Zheng Chen | 2 | 39 | 8.99 |
| B. Yao | 3 | 940 | 98.18 |