Improving contouring accuracy by using generalized cross-coupled control

Huo, Feng; Poo, A.N.

doi:10.1016/j.ijmachtools.2012.07.012

Cited by 97 publications

(40 citation statements)

References 19 publications

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“…Zhu et al [7] proposed a real time contouring error estimator based on the second-order Taylor approximant of the point-to-curve distance function. Moreover, some advanced controllers were combined with CCC to improve the contouring performance of CNC platform, such as robust tracking controller [8], Taylor series expansion error compensator [9], generalized cross-coupled controller [10], and hierarchical optimal contour controller [11], etc.…”

Section: Introductionmentioning

confidence: 99%

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Contouring error control of the tool center point function for five-axis machine tools based on model predictive control

Yang

Zhang

Ding

2016

Int J Adv Manuf Technol

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In five-axis machining processes, tool center point (TCP) control is often used to adjust the orientation of the ball end milling while maintaining constant tool center point coordinates in the workpiece frame. Therefore, TCP contouring error decreases the quality of the machined surface, but very few efforts have been made so far to minimize the contouring error of five-axis TCP by feedback control. To this end, a model predictive control (MPC) method is developed here for rolling optimization. More precisely, the contouring error model of five-axis TCP function is developed, where a Jacobian matrix is used to approximate the relationship between the contouring error and five drivers' tracking errors. The MPC algorithm is afterwards derived, where constraints of control signals are considered as well to avoid violation of the power limitation of the drivers. Finally, the proposed MPC method is examined by extensive experiments using testing tool path of ISO 10791-6: 2014 to verify its effectiveness and superiority.

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Section: Introductionmentioning

confidence: 99%

“…Although the existing works [5][6][7][8][9][10][11] can reduce contouring errors, they were confined to two-or three-axis machines with only translational joints. The nonlinear kinematics of five-axis machines complicate the contouring error control, which thus needs more sophisticate controller design [12].…”

Section: Introductionmentioning

confidence: 99%

Contouring error control of the tool center point function for five-axis machine tools based on model predictive control

Yang

Zhang

Ding

2016

Int J Adv Manuf Technol

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“…Chyba et al (2008) and Kumar et al (2005), although this work does not necessarily seek to provide optimal references, and from works on reference generation for highly accurate Computer Numeric Controlled (CNC) machines, e.g. Huo and Poo (2012) and Matsubara et al (2011). It is important to emphasise that the references are generated in open-loop through an FBRM in Matsubara et al (2011), whereas they are directly synthesised by computers in Huo and Poo (2012).…”

Section: Introductionmentioning

confidence: 99%

“…Huo and Poo (2012) and Matsubara et al (2011). It is important to emphasise that the references are generated in open-loop through an FBRM in Matsubara et al (2011), whereas they are directly synthesised by computers in Huo and Poo (2012). The proposed RM synthesises references for guiding a single DoF motion, either linear or angular, in a suboptimal manner with regard to time.…”

Section: Introductionmentioning

confidence: 99%

“…Both factors together favour the attainment of small reference tracking errors, and also provide more favourable conditions for adaptive controllers and/or observers, if any, to faster and more robustly estimate and cope with the unknown current-generated perturbations. The RM generates references via direct computer synthesis, similarly to Huo and Poo (2012). Thus, repeatability, finite convergence time, and facilitated interaction with the references while they are being synthesised, e.g.…”

Section: Introductionmentioning

confidence: 99%

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Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

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This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.Keywords: Guidance system, Path generation, Reference model, ROV, Trajectory tracking. List of acronyms and abbreviations

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MPC‐based robust contouring control for a robotic machining system

Kornmaneesang

Chen

2020

Asian Journal of Control

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Recently, robot manipulators have been adopted to perform machining tasks, instead of only automation tasks. The key machining task is to follow a desired contour. Therefore, the machining accuracy can be improved by reducing contour error. However, only a few researches concentrate on solving the contouring problem in the robotic machining system. In this paper, a model predictive control (MPC)‐based contouring control scheme is proposed for a machining system based on a 5‐DOF dual‐arm robot. The contouring control problem is transformed into the regulation problem by using the method of equivalent errors. An MPC algorithm is developed to minimize the contour error by optimizing a sequence of control actions under torque constraints. In addition, robustness is upgraded by integral sliding mode control (ISMC). Experiments are carried out for the proposed methods and two other conventional methods. The results show that the proposed control scheme can achieve much better contouring performance than the conventional methods, indicating the effectiveness of the proposed controller.

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Improving contouring accuracy by using generalized cross-coupled control

Cited by 97 publications

References 19 publications

Contouring error control of the tool center point function for five-axis machine tools based on model predictive control

Contouring error control of the tool center point function for five-axis machine tools based on model predictive control

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

MPC‐based robust contouring control for a robotic machining system

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