Contouring Control of an Innovative Manufacturing System Based on Dual-Arm Robot

Kornmaneesang, Woraphrut; Chen, Shyh‐Leh; Boonto, Sudchai

doi:10.1109/tase.2021.3073423

Cited by 9 publications

(2 citation statements)

References 39 publications

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“…To show feasibility of the proposed approach for more general 5-axis machining systems, the target system of this study is a 5-DOF dual-arm robotic machining system presented in [20]. In the system, two 5-DOF serial robot manipulators are used to hold a workpiece and work with a cutting tool fixed on a stationary base, forming 5-DOF machining configuration.…”

Section: Introductionmentioning

confidence: 99%

Time-optimal feedrate scheduling with actuator constraints for 5-axis machining

Kornmaneesang

Chen

2022

Int J Adv Manuf Technol

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Cycle time minimization is one of the major goals that many manufacturers are eager to achieve. Maximizing feedrate is the direct solution, however, physical motions need to be under the specified motion limits to avoid high-frequency vibration, causing machining error. In this paper, a time-optimal feedrate scheduling approach for 5-axis G1 toolpath is presented for 5-axis machining. A quintic B-spline corner smoothing method is utilized to smoothen sharp corners in the toolpath. Then, the S-shape feedrate profile of each block is optimized under the actuator motion constraints, with the objective of minimizing the cycle time. Particle swarm optimization (PSO) is used to provide the optimized solution. Experiments are conducted to validate the proposed approach and the results are compared with two other existing approaches. It is found that the proposed method can achieve shorter cycle time and less contour errors, showing the effectiveness of the proposed approach.

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Section: Introductionmentioning

confidence: 99%

Time-optimal feedrate scheduling with actuator constraints for 5-axis machining

Kornmaneesang

Chen

2022

Int J Adv Manuf Technol

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“…Next, the contouring controller can be obtained by designing a stabilizing controller for the error dynamics, Equation (7). Here, the approach of feedback linearization followed by integral sliding mode control (ISMC) is used to design the controller [21][22][23]. Thus, for the dynamics of equivalent errors, Equation (7), we can first design the feedback linearization control as:…”

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confidence: 99%

Contouring Control of a Five-Axis Machine Tool with Equivalent Errors

2022

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In this study, the contouring control problem of a five-axis machine tool was examined. Due to the rotation axes, there are two coordinate systems involved in the five-axis machine tool, namely the workpiece coordinate system and machine coordinate system. The five-axis machine tool is required to follow a given desired path with tool orientation specified in the workpiece coordinate system. However, the system dynamics of the machine tool is described in the machine coordinates. Kinematic transformations exist between the two coordinate systems. One challenge of the problem is to design a controller in the machine coordinate system that will meet the requirements in the workpiece coordinate system. Another challenge is to minimize both the position contour error and tool orientation error. The method of equivalent errors is adopted to design the contouring controller. The desired path and tool orientation in the workpiece coordinate system are transformed into a five-dimensional hyper-curve in the machine coordinate system. A contouring controller was designed to follow the five-dimensional hyper-curve using the method of equivalent errors. Both numerical and experimental results validate the effectiveness of the proposed contouring control method.

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