A preview controller with time based spline approximation for multi-axis manipulator

Toshihiko Inoue, Masayuki Morimoto, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages247-251
Number of pages5
DOIs
Publication statusPublished - 2006
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

Fingerprint

Splines
Manipulators
Trajectories
Controllers
Lasers
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Inoue, T., Morimoto, M., & Ohnishi, K. (2006). A preview controller with time based spline approximation for multi-axis manipulator. In IECON Proceedings (Industrial Electronics Conference) (pp. 247-251). [4153185] https://doi.org/10.1109/IECON.2006.347645

A preview controller with time based spline approximation for multi-axis manipulator. / Inoue, Toshihiko; Morimoto, Masayuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2006. p. 247-251 4153185.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inoue, T, Morimoto, M & Ohnishi, K 2006, A preview controller with time based spline approximation for multi-axis manipulator. in IECON Proceedings (Industrial Electronics Conference)., 4153185, pp. 247-251, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.347645
Inoue T, Morimoto M, Ohnishi K. A preview controller with time based spline approximation for multi-axis manipulator. In IECON Proceedings (Industrial Electronics Conference). 2006. p. 247-251. 4153185 https://doi.org/10.1109/IECON.2006.347645
Inoue, Toshihiko ; Morimoto, Masayuki ; Ohnishi, Kouhei. / A preview controller with time based spline approximation for multi-axis manipulator. IECON Proceedings (Industrial Electronics Conference). 2006. pp. 247-251
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