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

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

247

Lastpage

251

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;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347645

Filename

4153185