Title :
A unified contouring control in the task space
Author :
Zhang, Dongjun ; Chen, Ni ; Li, Zexiang
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, China
Abstract :
In the contouring control, the trajectory and the tolerance information are specified in the task space. Based on this observation we propose to design the controller in the task space directly. First, by defining the projection map on the cotangent space of the mechanical system the equation of motion is derived in the task space. Then a novel contouring controller is got based on the geometric control theory. The controller is transferred into the joint space for implementation. The simulation results show the performance of the controller.
Keywords :
control system synthesis; manipulator dynamics; motion control; path planning; contouring controller; cotangent space; error dynamics; geometric control theory; mechanical system; projection map; task frame; task space; tolerance information specification; trajectory specification; unified contouring control; Acceleration; Control systems; Control theory; Error correction; Manipulators; Mechanical systems; Motion control; Path planning; Robust stability; Trajectory; Contouring Control; Error Dynamics; Task Frame; Task Space;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545202
