Defects arising from the 3D printing process of continuous fiber-reinforced thermoplastic composites primarily hinder their overall performance. These defects particularly include twisting, folding, and breakage of the fiber bundle, which are induced...
Intelligent manufacturing is the main direction of Industry 4.0, pointing towards the future development of manufacturing. The core component of intelligent manufacturing is the computer numerical control (CNC) system. Predicting and compensating for...
Bistatic synthetic aperture radar (BiSAR) has drawn increasing attention in recent studies benefiting from its ability for forward-looking imaging, its capability of receiver radio silence and its resistance to jamming. However, the motion trajectory...
The accuracy of the end-effector motion trajectory is a critical performance indicator for cable-driven parallel mechanisms. This study aims to address the problem of trajectory error during the end-effector motion in a cable-driven parallel mechanis...
To address the difficulty of directly applying finite element simulation trajectories to actual spinning machines, as well as the discrepancy between simulation data and equipment execution in the spinning process, this paper proposes a trajectory ma...
In addressing the limited absolute positioning accuracy of industrial robots, which stems from the discrepancy between the nominal kinematic model and the physical entity, this paper proposes a novel paradigm for online compensation based on data-dri...
The six-degree-of-freedom parallel robots is crucial for intelligent manufacturing, motion simulation, aerospace and other fields. Their trajectory performance level directly affects the reliable application of high-precision operation scenarios. How...
Fiber-optic gyroscopes (FOGs)-based Measurement While Drilling system (MWD) is a newly developed instrument to survey the borehole trajectory continuously and in real time. However, because of the strong vibration while drilling, the measurement accu...
To improve the form accuracy of spherical surfaces generated by cup-wheel grinding, this paper presents a geometric modeling and error compensation method for concentric grinding of spherical surfaces. A cup-shaped arc grinding wheel, hereafter refer...
Improving contour accuracy is one of the significant goals of industrial machining. This paper proposes a contour error estimation and compensation algorithm for five-axis computer numerical control (CNC) machine tools based on modified numerical con...
Reducing servo response error and further making reduction on contour error is crucial for high-precision computer numerical control (CNC) machine tools. For a permanent magnet synchronous motor (PMSM) servo system, there is always a response lag in...
Multi-sensor data fusion is essential for accurate target tracking and trajectory reconstruction. However, common forms of systematic error in multi-sensor observations, including constant biases, linear drifts, and saturating exponential drifts, can...
Virtual commands serve as the essential framework for establishing interaction between the virtual pilot and the MCP in autopilot scenarios. Conventional proportional-integral-derivative (PID) controllers are insufficient to ensure accurate flight tr...
To improve the prediction reliability of model predictive control under model mismatch and environmental disturbances, this paper proposes a prediction-error-compensated MPC method with a forgetting factor for ship trajectory tracking and collision a...
Virtual commands are significant to model human–computer interactions in autopilot flight missions. However, the huge system hysteresis makes it difficult for proportional–integral–derivative (PID) algorithms to generate the command...
Lower limb rehabilitation exoskeleton robots have the characteristics of nonlinearity and strong coupling, and they are easily disturbed during operation by environmental factors. Thus, an accurate dynamic model of the robot is difficult to obtain, a...
Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a c...
Background: In the process of fracture reduction, there are some errors between the actual trajectory and the ideal trajectory due to mechanism errors, which would affect the smooth operation of fracture reduction. To this end, based on self-develope...
To improve the machining quality of the non-resonant elliptical vibration cutting (EVC) device, a compound control method for trajectory error compensation is proposed in this paper. Firstly, by analyzing the working principle of non-resonant EVC dev...
Piezoelectric-actuated machine tools (PAMTs) exhibit nanoscale motion capabilities, with their S-shaped curve trajectory further enabling smooth path execution and reduced terminal pulse. However, the speed changes inherent in multi-order trajectorie...
The dynamic error is the dominant factor affecting multi-axis CNC machining accuracy. Predicting and compensating for dynamic errors is vital in high-speed machining. This paper proposes a novel prediction-model-based approach to predict and compensa...
This paper presents an adaptive hysteresis compensation approach for a piezoelectric actuator (PEA) using single-neuron adaptive control. For a given desired trajectory, the control input to the PEA is dynamically adjusted by the error between the ac...
The error analysis of the robot has a very practical significance for improving its accuracy. Therefore, this paper conducts an error analysis for a new five-degree-of-freedom hybrid robot designed to conduct responsible surface machining. Initially,...
To address the issue of tooth surface twist, induced by lead modification during the form grinding of internal helical gears, this paper proposes a twist error compensation method based on tooth surface accuracy measurement and machine tool motion co...
This study proposes a field weakening control method with interpolation error compensation of the look-up table based permanent-magnet synchronous machine (PMSM) method. The look-up table (LUT) based control method has robust control characteristics...
In this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory ang...
In recent years, with the miniaturization of high-precision position and orientation systems (POS), precise motion errors during SAR data collection can be calculated based on high-precision POS. However, compensating for these errors remains a signi...
The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted betw...
In this paper, a Gaussian process-based model predictive control (GP-MPC) method is proposed, which aims to enhance the trajectory tracking performance of autonomous underwater vehicles (AUVs). This method can compensate for internal errors and exter...
This paper proposes a general design method for cams based on the kinematics and dynamics of a mechanical system. According to the actuator’s trajectory, the cam profile is generated in reverse based on the kinematic model of the system. Firstl...
This paper aims to solve the spatial trajectory tracking control problem of underactuated autonomous underwater vehicles (AUVs) in the presence of system parameter uncertainties and complex external disturbances. To accomplish this goal, a model&ndas...
This paper addresses the trajectory tracking control problem of underwater robots operating in uncertain underwater environments. An adaptive iterative learning control algorithm is proposed to handle external disturbances caused by environmental unc...
In robotic micromanipulation systems, the orthogonality of the three-axis motion trajectories of the motion control systems influences the accuracy of micromanipulation. A method of measuring and evaluating the orthogonality of three-axis motion traj...
For Measurement While Drilling (MWD), the redundant Micro-Electro-Mechanical Systems Inertial Measurement Unit (MEMS-IMU) navigation system significantly enhances the reliability and accuracy of drill string attitude measurements. Such an enhancement...
In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (acc...
The trajectory-tracking capability of autonomous mining trucks is critical for accomplishing transportation tasks efficiently. However, due to the diverse road surfaces and rugged terrains in open-pit mines, the existing vehicle dynamics models strug...
With the increasing use of horizontal wells in oil and gas development, measurement-while-drilling (MWD) systems require higher magnetic azimuth accuracy to ensure precise trajectory control. This study proposes a three-stage magnetic azimuth error c...
Compliant physical interactions, interactive learning, and robust position control are crucial to improving the effectiveness and safety of rehabilitation robots. This paper proposes a human–robot cooperation control strategy (HRCCS) for lower...
Circular synthetic aperture radar (CSAR) can obtain higher image resolution and more target information through 360° observation of the target. However, CSAR is often subject to motion errors due to the sensor’s accuracy limitations and the...
The hybrid kinematic mechanism (HKM) as an alternative remote handling subsystem of the Demonstration Fusion Power Plant (DEMO) breeding blanket (BB) is undergoing extensive theoretical analysis and feasibility verification. In this paper, the forwar...
Deviations or distortions in the trajectoy of MEMS-based Lissajous scanning imaging platforms might be detrimental to imaging quality. These deviations often arise from differences in MEMS mirror frequency response characteristics and asymmetry in pa...
In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, meas...
This paper proposes a compensation method for interpolation error of the maximum power control of a PMSM control system that generates current commands through a look-up table. A torque control system using a look-up table created through experiments...
The actuator dead zone of free-form surface grinding robots (FFSGRs) is very common in the grinding process and has a great impact on the grinding quality of a workpiece. In this paper, an improved trajectory tracking algorithm for an FFSGR with an a...
An adaptive sliding mode controller (SMC) design with a reinforcement-learning parameter optimization method is proposed for variable-speed trajectory tracking control of underactuated vessels under scenarios involving model uncertainties and externa...
Mini–unmanned aerial vehicles (mini-UAVs) are emerging as a promising platform for through-wall radar to sense the enclosed space in cities, especially high-rise buildings, due to their excellent maneuverability. However, due to unavoidable env...
In this paper, a trajectory tracking control strategy for low-speed car-like mobile robots (CLMRs) based on an extended state observer (ESO) and backstepping control is proposed to address the issue of trajectory tracking accuracy degradation caused...
Motion error is one of the most serious problems in airborne synthetic aperture radar (SAR) data processing. For a smoothly distributing backscatter scene or a seriously speed-varying velocity platform, the autofocusing performances of conventional a...
The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc&nda...
This article presents an adaptive neural network (ANN) control scheme based on a disturbance observer that can achieve trajectory tracking control of robotic manipulators under external disturbances and dynamic model uncertainties. Firstly, an ANN co...
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