TY - GEN
T1 - A preview controller with time based spline approximation for multi-axis manipulator
AU - Inoue, Toshihiko
AU - Morimoto, Masayuki
AU - Ohnishi, Kouhei
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper describes the proposal of preview controller with time based spline approximation for multi axis manipulator. The command trajectory on the geometrical coordinates is projected into time domain trajectory function. The command of position, velocity and acceleration are calculated by time based spline approximation. Simulation result shows that the tracking error and servo lag has reduced. Experiment by the x-y table for laser cutting machine shows that the acutual tracking error has remarkably reduced. With proposed preview controller, smooth motion can be realized at the change of the velocity and acceleration.
AB - This paper describes the proposal of preview controller with time based spline approximation for multi axis manipulator. The command trajectory on the geometrical coordinates is projected into time domain trajectory function. The command of position, velocity and acceleration are calculated by time based spline approximation. Simulation result shows that the tracking error and servo lag has reduced. Experiment by the x-y table for laser cutting machine shows that the acutual tracking error has remarkably reduced. With proposed preview controller, smooth motion can be realized at the change of the velocity and acceleration.
UR - http://www.scopus.com/inward/record.url?scp=50249086841&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249086841&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347645
DO - 10.1109/IECON.2006.347645
M3 - Conference contribution
AN - SCOPUS:50249086841
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 247
EP - 251
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -