Contouring control for three-axis machine tools based on nonlinear friction compensation for lead screws

Bui, Ba Dinh; Uchiyama, Naoki; Simba, Kenneth Renny

doi:10.1016/j.ijmachtools.2016.06.001

Cited by 36 publications

(15 citation statements)

References 22 publications

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“…The existence of reverse clearance dampens the positioning accuracy of the machine tool, which is a semi-closed-loop servo system, which in turn undermines the processing accuracy of the product. With the elapse of time, the reverse clearance will gradually increase with the wear-induced pair clearance [7,8].…”

Section: Figure 3 the Transmission Structure Between The Manipulatormentioning

confidence: 99%

Design and Implementation of Walking Beam Manipulator in Automatic Production Line Based on PLC

Zhang¹

2019

JESA

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This paper analyzes the kinematic features of the walking beam manipulator in the semiautomatic production line of cracked connecting rods, examines the positioning accuracy between the manipulator and each workstation, and explores the dynamic response of the position servo controller. Next, the author designed a position control system for the production line based on the electric drive mode, and detailed the hardware scheme of the system. The position control system integrates a specially-designed algorithm, which combines feedforward control and trigonometric function. Finally, the proposed system was proved to achieve accurate control of sequential motion and position between the walking beam manipulator and each workstation, especially in high-speed operation.

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Section: Figure 3 the Transmission Structure Between The Manipulatormentioning

confidence: 99%

Design and Implementation of Walking Beam Manipulator in Automatic Production Line Based on PLC

Zhang¹

2019

JESA

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“…To solve the first problem, an adaptive parameter estimation method [26] was proposed. Recently, reinforcement learning [27,28], repetitive control [29,30], fuzzy control [31][32][33], and neural network techniques [34][35][36] have been applied for friction estimation to identify and compensate for friction by training models based on massive amounts of data, such as joint velocity and acceleration data. However, the real-time performance of such intelligent methods is usually bad and it is difficult to implement them in real applications.…”

Section: Introductionmentioning

confidence: 99%

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Fan

Fang

et al. 2019

Applied Sciences

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Robot joint friction is an important and complicated issue in improving robot control performance. In this paper, a virtual sensor based on the total generalized momentum concept is proposed to estimate the total friction torque, including both the motor-side and link-side friction, of robot joints without joint torque sensors. The proposed algorithm only requires a robot joint dynamics model and not a complex friction model dependent on factors such as time and velocity. By compensating for the estimated friction torque with a robot joint controller, the trajectory tracking performance of the controller, especially the velocity tracking performance, can be improved. To verify the effectiveness of the developed algorithm, 2-DOF planar manipulator simulations and single-joint system experiments are conducted. The simulation and experimental results show that the designed virtual sensor can effectively estimate the total joint friction disturbance and that the controller trajectory tracking performance is improved after observed friction compensation. However, the position tracking performance improvement of the controller is less than that for the velocity tracking performance improvement during the experiments. In addition, the velocity step response ability and velocity tracking performance of the controller are improved more at low velocities than that at high velocities in the experiments. The proposed algorithm has engineering and theoretical significance for estimating robot joint friction and improving the performance of robot joint controllers.

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“…All of the methods mentioned above estimate 2D contour error and use approximated contour errors instead of the actual ones to design contouring controllers or modify reference trajectories. 22,31,32 Most of the error approximation methods do not represent the contour error accurately, especially for a high-curvature surface application. However, contouring control with actual contour errors is difficult to be implemented in real-time control systems because the actual contour error cannot be obtained immediately for complex contour profiles.…”

Section: Introductionmentioning

confidence: 99%

Iterative learning contouring controller based on trajectory generation with linearly interpolated contour error estimation and Bézier reposition trajectory for computerized numerical control machine tool feed drive systems

Hendrawan

Simba²,

Uchiyama

2019

Advances in Mechanical Engineering

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In industrial applications, highly accurate mechanical components are generally required to produce advanced mechanical and mechatronic systems. In machining mechanical components, contour error represents the product shape quality directly, and therefore it must be considered in controller design. Although most existing contouring controllers are based on feedback control and estimated contour error, it is generally difficult to replace the feedback controller in commercial computerized numerical control machines. This article proposes an embedded iterative learning contouring controller by considering the linearly interpolated contour error compensation and Bézier reposition trajectory, which can be applied in computerized numerical control machines currently in use without any modification of their original feedback controllers. While the linearly interpolated contour error compensation enhances tracking performance by compensating the reference input with an actual value, the Bézier reposition trajectory enables smooth velocity transitions between discrete points in the reference trajectory. For performance analysis, the proposed controller was implemented in a commercial three-axis computerized numerical control machine and several experiments were conducted based on typical three-dimensional sharp-corner and half-circular trajectories. Experimental results showed that the proposed controller could reduce the maximum and mean contour errors by 45.11% and 54.48% on average, compared to embedded iterative learning contouring controller with estimated contour error. By comparing to embedded iterative learning contouring controller with linearly interpolated contour error compensation, the maximum and mean contour errors are reduced to 20.54% and 26.92%, respectively.

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Contouring control for three-axis machine tools based on nonlinear friction compensation for lead screws

Cited by 36 publications

References 22 publications

Design and Implementation of Walking Beam Manipulator in Automatic Production Line Based on PLC

Design and Implementation of Walking Beam Manipulator in Automatic Production Line Based on PLC

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Iterative learning contouring controller based on trajectory generation with linearly interpolated contour error estimation and Bézier reposition trajectory for computerized numerical control machine tool feed drive systems

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