Thesis / Dissertation

A Model-based Approach for High Performance Motion Control in Industrial Machines

Meng Yuan, Christopher Manzie (ed.)

Published : 2020

Abstract

Industrial robotics typically consider laser/water cutting, grinding, etc. Within these machines, the motion controller is responsible for the positioning of the end effector. The performance of the motion controller directly influences the quality of the resulting product as tolerance/accuracy are surrogates for machining quality. This is particularly relevant in tracking and contouring applications when the system has structural flexibility, and no direct feedback measurement of the end-effector position is available. Traditional control architectures in machining are unable to explicitly bound tracking and/or contouring errors, and conservative operation is used to ensure satisfactory per..

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