Robot contour tracking accuracy enhancement using relaxed performance measure

Ming Yih Lee; Todd Holt; Albert J. Sturm; Fredric N. Bailey

doi:10.1109/icsyse.1989.48679

Robot contour tracking accuracy enhancement using relaxed performance measure

Ming Yih Lee^*, Todd Holt, Albert J. Sturm, Fredric N. Bailey

^*Corresponding author for this work

CIMCORP Inc

Research output: Contribution to conference › Conference Paper › peer-review

Abstract

A way of interpreting the three-dimensional dynamic contouring errors attributed to a multiaxis robot system based on a relaxed performance measure is introduced. With this concept, multiaxis contour errors can be reduced by matching delay times over a bounded frequency bandwidth rather than increased loop gains in the servo drives which is an important scarce source for the stability maintenance of the servo design. Contour error models and the axis controller design implemented using the relaxed performance measure are given.

Original language	English
Pages	307-312
Number of pages	6
DOIs	https://doi.org/10.1109/icsyse.1989.48679
State	Published - 1989
Externally published	Yes
Event	IEEE International Conference on Systems Engineering - Fairborn, OH, USA Duration: 24 08 1989 → 26 08 1989

Conference

Conference	IEEE International Conference on Systems Engineering
City	Fairborn, OH, USA
Period	24/08/89 → 26/08/89

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10.1109/icsyse.1989.48679

Cite this

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title = "Robot contour tracking accuracy enhancement using relaxed performance measure",

abstract = "A way of interpreting the three-dimensional dynamic contouring errors attributed to a multiaxis robot system based on a relaxed performance measure is introduced. With this concept, multiaxis contour errors can be reduced by matching delay times over a bounded frequency bandwidth rather than increased loop gains in the servo drives which is an important scarce source for the stability maintenance of the servo design. Contour error models and the axis controller design implemented using the relaxed performance measure are given.",

author = "Lee, {Ming Yih} and Todd Holt and Sturm, {Albert J.} and Bailey, {Fredric N.}",

year = "1989",

doi = "10.1109/icsyse.1989.48679",

language = "英语",

pages = "307--312",

note = "IEEE International Conference on Systems Engineering ; Conference date: 24-08-1989 Through 26-08-1989",

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AU - Lee, Ming Yih

AU - Holt, Todd

AU - Sturm, Albert J.

AU - Bailey, Fredric N.

PY - 1989

Y1 - 1989

N2 - A way of interpreting the three-dimensional dynamic contouring errors attributed to a multiaxis robot system based on a relaxed performance measure is introduced. With this concept, multiaxis contour errors can be reduced by matching delay times over a bounded frequency bandwidth rather than increased loop gains in the servo drives which is an important scarce source for the stability maintenance of the servo design. Contour error models and the axis controller design implemented using the relaxed performance measure are given.

AB - A way of interpreting the three-dimensional dynamic contouring errors attributed to a multiaxis robot system based on a relaxed performance measure is introduced. With this concept, multiaxis contour errors can be reduced by matching delay times over a bounded frequency bandwidth rather than increased loop gains in the servo drives which is an important scarce source for the stability maintenance of the servo design. Contour error models and the axis controller design implemented using the relaxed performance measure are given.

UR - http://www.scopus.com/inward/record.url?scp=0024933799&partnerID=8YFLogxK

U2 - 10.1109/icsyse.1989.48679

DO - 10.1109/icsyse.1989.48679

M3 - 论文

AN - SCOPUS:0024933799

SP - 307

EP - 312

T2 - IEEE International Conference on Systems Engineering

Y2 - 24 August 1989 through 26 August 1989

ER -

Robot contour tracking accuracy enhancement using relaxed performance measure

Abstract

Conference

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