Journal ArticleDOI
Zero Phase Error Tracking Algorithm for Digital Control
TLDR
In this article, a digital feed-forward control algorithm for tracking desired time varying signals is presented, which is particularly suited to the general motion control problems including robotic arms and positioning tables.Abstract:
A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.read more
Citations
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Journal ArticleDOI
Disturbance observer and feedforward design for a high-speed direct-drive positioning table
C.J. Kempf,S. Kobayashi +1 more
TL;DR: Experimental results for quantized low-order position reference trajectories, which are commonly used in industrial systems, demonstrate the effectiveness of the proposed discrete-time tracking controller.
Journal ArticleDOI
High speed CNC system design. Part I: jerk limited trajectory generation and quintic spline interpolation
Kaan Erkorkmaz,Yusuf Altintas +1 more
TL;DR: In this paper, a quintic spline trajectory generation algorithm was proposed to generate continuous position, velocity, and acceleration profiles. But the spline interpolation is realized with a novel approach that eliminates feedrate fluctuations due to parametrization errors, resulting in trapezoidal acceleration profiles along the toolpath.
Journal ArticleDOI
Machine tool feed drives
TL;DR: In this paper, the design and control of feed drive systems used in machine tools is discussed, as well as the challenges and current challenges in the design, analysis and controlling of feed drives.
Journal ArticleDOI
Modeling and Control of Piezo-Actuated Nanopositioning Stages: A Survey
TL;DR: The progresses of different modeling and control approaches for piezo-actuated nanopositioning stages are discussed and new opportunities for the extended studies are highlighted.
Journal ArticleDOI
Robust motion controller design for high-accuracy positioning systems
Ho Seong Lee,Masayoshi Tomizuka +1 more
TL;DR: Experimental results are presented to demonstrate performance improvement obtained by each element in the proposed robust control structure for robust high speed and accuracy motion control systems.
References
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Journal ArticleDOI
Paper: Unification of discrete time explicit model reference adaptive control designs
I. D. Landau,R. Lozano +1 more
TL;DR: Various discrete time explicit MRAC designs based on stability considerations are presented from a unified point of view, which removes some of the restrictions encountered in previous designs and solves the important problem of independent specification of tracking and regulation objectives.
Journal ArticleDOI
Optimal Discrete Finite Preview Problems (Why and How Is Future Information Important
Proceedings ArticleDOI
Application of nonlinear friction compensation to robot arm control
TL;DR: A model to predict the nonlinear behavior exhibited by the experimental system and a nonlinear controller with Coulomb friction compensator are developed and tested and the effectiveness of the non linear controller is certified by designing a linear tracking controller based on this scheme.
Journal ArticleDOI
Industrial robots: Computer interfacing and control
TL;DR: One of the books that can be recommended for new readers is industrial robots computer interfacing and control, which is not kind of difficult book to read.