Title :
A Preview Controller with Time Based Spline Approximation for Multi-axis Manipulator
Author :
Inoue, Toshihiko ; Morimoto, Masayuki ; Ohnishi, Kouhei
Author_Institution :
YAMAZAKI MAZAC CO, Aichi
Abstract :
This paper describes the proposal of preview controller with time based spline approximation for multi axis manipulator. The command trajectory on the geometrical coordinates is projected into time domain trajectory function. The command of position, velocity and acceleration are calculated by time based spline approximation. Simulation result shows that the tracking error and servo lag has reduced. Experiment by the x-y table for laser cutting machine shows that the actual tracking error has remarkably reduced. With proposed preview controller, smooth motion can be realized at the change of the velocity and acceleration
Keywords :
acceleration control; cutting tools; laser beam cutting; manipulators; motion control; position control; splines (mathematics); time-domain analysis; velocity control; laser cutting machine; multiaxis manipulator; preview controller; time based spline approximation; time domain trajectory function; tracking error; Acceleration; Equations; Laser beam cutting; Motion control; Proposals; Servomechanisms; Spline; Surface reconstruction; Surface topography; Velocity control;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347645
