Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator
AbstractReduction 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
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Ouyang, P.; Hu, Y.; Yue, W.; Liu, D. Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator. Algorithms 2016, 9, 81.
Ouyang P, Hu Y, Yue W, Liu D. Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator. Algorithms. 2016; 9(4):81.Chicago/Turabian Style
Ouyang, Puren; Hu, Yuqi; Yue, Wenhui; Liu, Deshun. 2016. "Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator." Algorithms 9, no. 4: 81.
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