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Open AccessArticle

Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
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
Algorithms 2016, 9(4), 81;
Received: 28 August 2016 / Revised: 6 November 2016 / Accepted: 18 November 2016 / Published: 24 November 2016
PDF [2430 KB, uploaded 19 December 2016]


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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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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