Geometric Contouring Control on the Smooth Surface

In this paper we concentrate on contouring control for surface machining. The object of the motion control system is tracking the spatial curve lying on the surface. Observing that the contour error can be approximated by the tracking error (projected to the normal subspace of the surface), we propose a new design procedure based on the geometrical properties of the curves and surfaces. Essentially the controllers look ahead using the information provided by the curvature of the curves and surfaces. The simulation results show the efficiency of the design method