@inproceedings{fb009af50d984884abeaa1f9da0f1f32,
title = "Robot contouring performance study for non-constrained process applications",
abstract = "The dynamic contouring errors attributed to a multiaxis robot performing a nonconstrained contouring process are discussed, and a way of interpreting this contouring error based on a relaxed performance measure is introduced. With this concept, multiaxis contouring errors can be reduced by matching axis delay times over a bounded frequency bandwidth rather than increasing loop gains in the axes controllers. A dynamic contouring error model is developed and used to establish axis-controller design criteria. Robust axis controllers are designed and implemented in a six-DOF Cartesian-type gantry robot. Test data are obtained to verify the performance of the controller design and to validate the error model.",
author = "Lee, {Ming Yih} and Todd Holt and Sturm, {Albert J.} and Bailey, {Fredric N.}",
year = "1990",
language = "英语",
isbn = "0818620617",
series = "Proc 1990 IEEE Int Conf Rob Autom",
publisher = "Publ by IEEE",
pages = "1988--1995",
booktitle = "Proc 1990 IEEE Int Conf Rob Autom",
note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",
}