On-line Self Tuning of Contouring Control for High Accuracy Robot Manipulators under Various Operations

Li, Kelin; Boonto, Sudchai; Nuchkrua, Thanana

doi:10.1007/s12555-019-0110-9

Cited by 18 publications

(9 citation statements)

References 20 publications

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“…To improve the contour error control accuracy of a networked multi-axis motion system with a time-varying time delay, Wang et al designed a linear active disturbance rejection controller for uniaxial trajectory tracking control [28]. Li et al presented the method of online self-tuning proportional-derivative controller to improve the control performance of robot contour control [29]. For five-axis machine tools, Chen et al proposed a new contour error precompensation method that integrates the analytical prediction of the contour error, an optimal path-reshaping model, and a decoupling solution algorithm [30].…”

Section: Introductionmentioning

confidence: 99%

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

Jin

Meng

2022

Robotica

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During the movement of an optical mirror processing robot (OMPR), the movement error of each branch chain leads to contour errors of the grinding tool, which reduce the accuracy of the optical mirror surface. To improve the processing accuracy of an OMPR, it is necessary to study the control and compensation strategy of its contour error. In this study, first, a kinematics analysis of an OMPR is conducted, and the trajectory of the end execution point in the world coordinate system is transformed into the fixed coordinate system of the robot. Combined with the common trajectory of optical mirror processing, based on the Frenet coordinate system, contour error models of the OMPR in straight line, arc, and spiral trajectories are established. Subsequently, the contour error, feedforward channel gain, and compensation channel gain models of the parallel module are established in the task space, and concurrently, the control variables and stability of the system are analyzed. Finally, the established feedforward combined multi-axis cross-coupling contour control compensation strategy is analyzed experimentally to verify its accuracy and effectiveness. It provides a theoretical basis for a robot to directly face the precision processing object using the control and compensation strategy in a future research study to improve the molding accuracy of a surface and optimize the processing technology of a large-scale optical mirror.

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Section: Introductionmentioning

confidence: 99%

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

Jin

Meng

2022

Robotica

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“…In addition, a few studies have proposed alternative algorithms for motor speed control. The literature [9] proposes an on-line tuning fuzzy proportional derivative controller based on the equivalent errors to deal with the contouring control of robot manipulators. The results show that the controller can effectively deal with highly non-linear dynamic systems following an analytic/non-analytic path.…”

Section: Introductionmentioning

confidence: 99%

PMSM Speed Control Based on Particle Swarm Optimization and Deep Deterministic Policy Gradient under Load Disturbance

et al. 2021

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Proportional integral-based particle swarm optimization (PSO) and deep deterministic policy gradient (DDPG) algorithms are applied to a permanent-magnet synchronous motor to track speed control. The proposed methods, based on notebooks, can deal with time delay challenges, imprecise mathematical models, and unknown disturbance loads. First, a system identification method is used to obtain an approximate model of the motor. The load and speed estimation equations can be determined using the model. By adding the estimation equations, the PSO algorithm can determine the sub-optimized parameters of the proportional-integral controller using the predicted speed response; however, the computational time and consistency challenges of the PSO algorithm are extremely dependent on the number of particles and iterations. Hence, an online-learning method, DDPG, combined with the PSO algorithm is proposed to improve the speed control performance. Finally, the proposed methods are implemented on a real platform, and the experimental results are presented and discussed.

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“…Wang [29] and Ai [30] designed finite-time sliding modes for satellite attitude control, and the convergence time is estimated by the proposed methods and disturbance torque with consideration of the upper bounded norm. Some researchers [31][32][33][34] also designed finite time controllers for robot manipulator and vehicle systems. Generally, the finite-time controller considering overall perturbations still needs developing, and in order to deal with perturbations, the structure of finite-time controllers is relatively complex.…”

Section: Introductionmentioning

confidence: 99%

Robust Finite-Time Control Algorithm Based on Dynamic Sliding Mode for Satellite Attitude Maneuver

Liang

2021

Mathematics

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Robust finite-time control algorithms for satellite attitude maneuvers are proposed in this paper. The standard sliding mode is modified, hence the inherent robustness could be maintained, and this fixed sliding mode is modified to dynamic, therefore the finite-time stability could be achieved. First, the finite -time sliding mode based on attitude quaternion is proposed and the loose finite-time stability is achieved by enlarging the sliding mode parameter. In order to get the strict finite-time stability, a sliding mode based on the Euler axis is then given. The fixed norm property of the Euler axis is used, and a sliding mode parameter without singularity issue is achieved. System performance near the equilibrium point is largely improved by the proposed sliding modes. The singularity issue of finite-time control is solved by the property of rotation around a fixed axis. System finite-time stability and robustness are analyzed by the Lyapunov method. The superiority of proposed controllers and system robustness to some typical perturbations such as disturbance torque, model uncertainty and actuator error are demonstrated by simulation results.

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On-line Self Tuning of Contouring Control for High Accuracy Robot Manipulators under Various Operations

Cited by 18 publications

References 20 publications

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

PMSM Speed Control Based on Particle Swarm Optimization and Deep Deterministic Policy Gradient under Load Disturbance

Robust Finite-Time Control Algorithm Based on Dynamic Sliding Mode for Satellite Attitude Maneuver

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