Position domain contour control for robotic system

In this paper, a new position domain PD control is proposed focusing on improving contour tracking performance of robotic systems. First, a robotic system is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while the slave motion is described as a function of the master motion according to contour trajectory requirements. After that, a position domain dynamic model of the robotic system is developed based on the master motion by transforming the original dynamic equations from the time domain to the position domain. Then a position domain PD control is proposed to control the position domain dynamic system. The position domain control is successfully verified for contour tracking through simulation study. It is shown that the position domain control has the potential of obtaining high tracking performance, and can be used as an alternative to the time domain control.