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ERROR SPACE MOTION CONTROL METHODOLOGY FOR COMPLEX CONTOURS
Author(s) -
Landers Robert G.
Publication year - 2005
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2005.tb00224.x
Subject(s) - interpolation (computer graphics) , motion control , linear interpolation , control theory (sociology) , motion system , motion (physics) , classification of discontinuities , robotics , servomechanism , circular motion , linear motion , artificial intelligence , mathematics , tracking error , computer vision , computer science , engineering , robot , control engineering , control (management) , mathematical analysis , mechanical engineering , pattern recognition (psychology)
Motion control is a critical component of many engineering systems ( e.g. , manufacturing, robotics). Most systems have standard interpolation and control schemes for linear and circular contours; therefore, complex contours are often decomposed into a series of line segments and circular arcs. However, there are discontinuities where the line segments and arcs are joined together, and time to complete the contour is substantially increased when acceleration/deceleration interpolation schemes are employed. A motion control scheme known as the error space motion control methodology is proposed in this paper to design servomechanism motion control systems that may be utilized for complex contours. The error space motion control methodology is applied to a two‐axis motion control system and simulation studies are conducted for linear, circular, elliptical, and limacon contours. The results demonstrate the excellent tracking ability of the proposed error space motion control methodology and its utility for complex contours.