A Preview Controller with Time Based Spline Approximation for Multi-axis Manipulator

@article{Inoue2006APC,
  title={A Preview Controller with Time Based Spline Approximation for Multi-axis Manipulator},
  author={Tomohiro Inoue and Masahiko Morimoto and Kouhei Ohnishi},
  journal={IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics},
  year={2006},
  pages={247-251}
}
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 actual tracking error has… CONTINUE READING
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Tracking motion of mobile robot for moving target using NURBS curve

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