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Algorithms 2016, 9(4), 81; doi:10.3390/a9040081

Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

1
Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
2
College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan 411201, China
*
Author to whom correspondence should be addressed.
Academic Editor: Javier Del Ser Lorente
Received: 28 August 2016 / Revised: 6 November 2016 / Accepted: 18 November 2016 / Published: 24 November 2016
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Abstract

Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system. View Full-Text
Keywords: contour tracking; contour error; contouring control; robot; cross-coupled control; PD control; Jacobian; stability analysis contour tracking; contour error; contouring control; robot; cross-coupled control; PD control; Jacobian; stability analysis
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MDPI and ACS Style

Ouyang, P.; Hu, Y.; Yue, W.; Liu, D. Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator. Algorithms 2016, 9, 81.

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