Cross-coupled contouring control of multi-DOF robotic manipulator
type: Item
instance of: scholarly article
title: Cross-coupled contouring control of multi-DOF robotic manipulator
zbMATH Open document ID: 1461.93360
author: Puren Ouyang
author: Yuqi Hu
author: Wenhui Yue
author: Deshun Liu
published in: Algorithms
publication date: 2019-03-26T00:00:00Z
review text: Summary: Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 7042390
zbMATH Keywords: contour tracking
zbMATH Keywords: contour error
zbMATH Keywords: contouring control
zbMATH Keywords: robot
zbMATH Keywords: cross-coupled control
zbMATH Keywords: PD control
zbMATH Keywords: Jacobian
zbMATH Keywords: stability analysis
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.3390/a9040081
OpenAlex ID: W2549472344
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DOI: 10.3390/A9040081
description: scientific article; zbMATH DE number 7042390