Contouring control for multi-axis motion systems with holonomic constraints: theory and application to a parallel system

DOI10.1002/ASJC.1171MaRDI QIDQ2828528zbMATH OpenOpenAlexFDO

Authors Shyh-Leh Chen, Yuan-Cheng Tsai

Publication date 26 October 2016

Published in Asian Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/asjc.1171

zbMATH Keywords

holonomic constraintsparallel systemcontouring control

Mathematics Subject Classification ID

Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Holonomic systems related to the dynamics of a system of particles (70F20)

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• Flatness-based control of parallel kinematics using multibody systems --- simulation and experimental results

Cites work

• Contouring control of robot manipulators based on equivalent errors
• Development of a hybrid iterative learning control for contouring nurbs curves
• Development of vision-based navigation system for wheeled agent
• Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces
• Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects
• Path-tracking control of a riderless bicycle via road preview and speed adaptation
• Robust hybrid control of constrained robot manipulators via decomposed equations

Cited in

(5)

• Adaptive fault-tolerant control of an axially moving system with time-varying constraints
• Cross-coupled contouring control of multi-DOF robotic manipulator
• MPC-based robust contouring control for a robotic machining system
• Multi-axis model predictive contouring control
• Contouring control of robot manipulators based on equivalent errors

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