Shyh-Leh Chen

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This study is concerned with the contouring control for multiaxis ( -axis) motion system. The equivalent errors, consisting of 1 equivalent contour errors and 1 tangential error, are proposed to simplify the design of contouring controller. Instead of the actual contour error, which is, in general, a complicated function of axial positions, the equivalent(More)
The purpose of this study is to design an integrated interpolator and contouring controller for a multi-axis motion system. The desired path is described by the nonuniform rational B-spline (NURBS) interpolator. The method of equivalent errors is adopted for the contouring controller. To apply the method of equivalent errors, the desired path in the form of(More)
Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other(More)
The integrated contouring controller, that includes feedback, zero phase error tracking controller (ZEPTC), and cross coupling controller (CCC), is considered in this study. The objective of the integrated controller is to enhance the performance of conventional CCC by introducing an optimal gain and adaptive control law. The optimal control gain for CCC is(More)