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Bin Yao - One of the best experts on this subject based on the ideXlab platform.
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A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems
Volume 3 Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Syste, 2019Co-Authors: Can Yang, Bin Yao, Zheng Chen, Bobo HelianAbstract:Abstract In this paper, a strictly defined new orthogonal global task Coordinate Frame (NGTCF) based on the false position method is proposed for precision contouring control of biaxial systems. In contrast to the existed global task Coordinate Frame (GTCF), the value of the normal Coordinate in NGTCF directly represents the contour error, rather than the first-order approximation. Moreover, different from the conventional GTCF just suitable for contours with explicit shape functions, the proposed NGTCF can be utilized in various complex contours. The false position method is adopted to calculate the curve Coordinates of actual points in NGTCF. Then an adaptive robust controller (ARC) is designed to deal with the effects of strong coupling of the system dynamics in the task space and modeling uncertainties. The proposed NGTCF-based ARC contouring control strategy is tested on a linear motor driven biaxial industrial gantry. Experiments under different contouring tasks with high-speed and large-curvature are conducted to verify the effectiveness of the proposed method, and the experimental results confirm that the excellent contouring performance of the proposed approach can be achieved.
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Adaptive robust control of machining force and contour error with tool deflection using global task Coordinate Frame
Proceedings of the Institution of Mechanical Engineers Part B: Journal of Engineering Manufacture, 2016Co-Authors: Tyler A. Davis, Yung C. Shin, Bin YaoAbstract:Peripheral milling process productivity or quality can be improved by controlling either cutting force or contour error. While each means for improvement is often addressed individually, efforts to control both aspects simultaneously are less common in the literature. This article describes an approach to control both the contour error and force using an adaptive robust controller. The axes dynamic behavior and tool deflection are considered as the two major sources of error expressly considered in the control design and are embedded in a global task Coordinate Frame representation of contour error. The adaptive control component maintains high-performance control of both force and contour error in the presence of significant model error or external disturbances. The control approach is implemented on a three-axis machine tool for validation. Experimental results indicate that significant improvements to both contour error and force regulation have been achieved.
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Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame
Journal of Manufacturing Science and Engineering, 2015Co-Authors: Tyler A. Davis, Yung C. Shin, Bin YaoAbstract:The contour error (CE) of machining processes is defined as the difference between the desired and actual produced shape. Two major factors contributing to CE are axis position error and tool deflection. A large amount of research work formulates the CE in convenient locally defined task Coordinate Frames that are subject to significant approximation error. The more accurate global task Coordinate Frame (GTCF) can be used, but transforming the control problem to the GTCF leads to a highly nonlinear control problem. An adaptive robust control (ARC) approach is designed to control machine position in the GTCF, while additionally accounting for tool deflection, to minimize the CE. The combined GTCF/ARC approach is experimentally validated by applying the control to circular contours on a three axis milling machine. The results show that the proposed approach reduces CE in all cases tested.
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adaptive robust control of circular machining contour error using global task Coordinate Frame
Journal of Manufacturing Science and Engineering-transactions of The Asme, 2013Co-Authors: Tyler A. Davis, Yung C. Shin, Bin YaoAbstract:The contour error of machining processes is defined as the difference between the desired and actual produced shape. Two major factors contributing to contour error are axis position error and tool deflection. A large amount of research work formulates the contour error in convenient locally defined task Coordinate Frames that are subject to significant approximation error. The more accurate global task Coordinate Frame (GTCF) can be used, but transforming the control problem to the GTCF leads to a highly nonlinear control problem. An adaptive robust control (ARC) approach is designed to control machine position in the GTCF, while directly accounting for tool deflection, to minimize the contour error. The combined GTCF/ARC approach is experimentally validated by applying the control to circular contours on a three axis milling machine. The results show that the proposed approach reduces contour error in all cases tested.Copyright © 2013 by ASME
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an orthogonal global task Coordinate Frame for contouring control of biaxial systems
IEEE-ASME Transactions on Mechatronics, 2012Co-Authors: Bin Yao, Qingfeng WangAbstract:Recent research on the Coordinated control of biaxial machines for precise contour following has been using various locally defined task Coordinate Frames (LTCF) “attached” to the desired contour to approximately calculate the contour error for feedback controller designs. Contour error, by definition, is a geometrical quantity depending on the shape of the desired contour only and has nothing to do with the desired motion on the contour. As such, all those moving LTCF-based algorithms have to make the assumptions that the position tracking errors are much smaller than the radius of curvature of the desired contour and the calculated contour error is only an approximation of actual contour error. In contrast, this paper presents an orthogonal global task Coordinate Frame (GTCF) in which the calculation of contour error is exact to the first-order approximation of the actual contour error, no matter how large the position tracking errors would be. A systematic way to construct curvilinear Coordinates of the proposed GTCF using any description of the geometry of the desired contour in a two-dimensional space is also given. Contouring control of a linear motor driven biaxial high-speed industrial gantry is then used as a case study. A simplistic direct adaptive robust controller (ARC) is constructed to deal with the effect of strong coupling of the system dynamics in the task space in addition to modeling uncertainties. The proposed GTCF-based ARC algorithm, along with the traditional LTCF-based ARC ones, are implemented and comparative experimental results are presented. The results validate the effectiveness of the proposed GTCF approach for free-form contouring control with large curvatures and arbitrary position tracking errors and confirm the excellent contouring performance of the proposed approach in general.
Qingfeng Wang - One of the best experts on this subject based on the ideXlab platform.
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an orthogonal global task Coordinate Frame for contouring control of biaxial systems
IEEE-ASME Transactions on Mechatronics, 2012Co-Authors: Bin Yao, Qingfeng WangAbstract:Recent research on the Coordinated control of biaxial machines for precise contour following has been using various locally defined task Coordinate Frames (LTCF) “attached” to the desired contour to approximately calculate the contour error for feedback controller designs. Contour error, by definition, is a geometrical quantity depending on the shape of the desired contour only and has nothing to do with the desired motion on the contour. As such, all those moving LTCF-based algorithms have to make the assumptions that the position tracking errors are much smaller than the radius of curvature of the desired contour and the calculated contour error is only an approximation of actual contour error. In contrast, this paper presents an orthogonal global task Coordinate Frame (GTCF) in which the calculation of contour error is exact to the first-order approximation of the actual contour error, no matter how large the position tracking errors would be. A systematic way to construct curvilinear Coordinates of the proposed GTCF using any description of the geometry of the desired contour in a two-dimensional space is also given. Contouring control of a linear motor driven biaxial high-speed industrial gantry is then used as a case study. A simplistic direct adaptive robust controller (ARC) is constructed to deal with the effect of strong coupling of the system dynamics in the task space in addition to modeling uncertainties. The proposed GTCF-based ARC algorithm, along with the traditional LTCF-based ARC ones, are implemented and comparative experimental results are presented. The results validate the effectiveness of the proposed GTCF approach for free-form contouring control with large curvatures and arbitrary position tracking errors and confirm the excellent contouring performance of the proposed approach in general.
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Global task Coordinate Frame-based contouring control of linear-motor-driven biaxial systems with accurate parameter estimations
IEEE Transactions on Industrial Electronics, 2011Co-Authors: Chuxiong Hu, Bin Yao, Qingfeng WangAbstract:This paper presents a global task Coordinate Frame (TCF) (GTCF)-based integrated direct/indirect adaptive robust contouring controller for linear-motor-driven biaxial systems that achieves both stringent contouring performance and accurate parameter estimations. In contrast to the past research works those use various locally defined TCFs “attached” to the desired contour to approximately calculate the contouring error for feedback controller designs, this paper first formulates the contouring control problem using a recently developed GTCF, in which calculation of the contouring error is rather accurate and not affected by the curvature of the desired contour. A physical-model-based indirect-type parameter-estimation algorithm is then synthesized to obtain accurate online estimates of unknown physical model parameters. An integrated direct/indirect adaptive robust controller with dynamic-compensation-type fast adaptation is also constructed to preserve the excellent transient and steady-state performance of the direct adaptive robust control (ARC) designs. Comparative experimental results show that the proposed GTCF-based integrated direct/indirect ARC algorithm not only achieves the best contouring performance but also possesses rather accurate estimations of physical parameters.
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Contouring control of biaxial systems based on a new task Coordinate Frame
2010 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2010Co-Authors: Bin Yao, Qingfeng WangAbstract:This paper proposes a new task Coordinate Frame (TCF) for contouring control of biaxial systems. Existing task Coordinate Frames are only locally defined based on the desired contouring trajectory to be tracked and the calculated contour error is an approximation to the actual contour error only. As such, they are applicable to contouring tasks with small curvature and little actual trajectory tracking errors only. In contrast, the proposed task Coordinate Frame is globally defined based on the geometry of the desired contour only and the resulting Coordinate errors correspond to the actual contouring error and the tangential error on the contour directly. To demonstrate the high contouring performance nature of the proposed task Coordinate Frame, the system dynamics of a biaxial linear motor gantry is transformed into this task Coordinate Frame. A discontinuous projection based adaptive robust controller (ARC) which explicitly takes into account the dynamic coupling effect is then employed to improve the contouring performance under both parametric uncertainties and uncertain nonlinearities. Comparative experimental results obtained on a high-speed industrial biaxial gantry driven by linear motors are presented to verify that the proposed TCF is effective for achieving excellent contouring performance even when large-curvature contouring control tasks are of concern.
Pierre M. Larochelle - One of the best experts on this subject based on the ideXlab platform.
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An Improved Principal Coordinate Frame for use with Spatial Rigid Body Displacement Metrics
Advances in Mechanism and Machine Science, 2019Co-Authors: Pierre M. Larochelle, Venkatesh VenkataramanujamAbstract:This paper presents an improved definition of a Coordinate Frame, entitled the principal Frame (PF), that is useful for metric calculations on spatial rigid-body displacements. For a finite set of displacements a point mass model of the moving rigid-body is employed. Next, we compute the centroid and principal axes associated with the point mass locations. The PF is then determined from the principal axes. Here, a new algorithm for determining the PF from the principal axes is proposed. The PF is invariant with respect to the choice of the fixed Coordinate Frame as well as the system of units used; therefore, the PF is useful for left invariant metric computations. An example including a set of 10 spatial rigid-body displacements is presented to demonstrate the application and utility of the PF.
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A Coordinate Frame Useful for Rigid-Body Displacement Metrics
Journal of Mechanisms and Robotics, 2010Co-Authors: Venkatesh Venkataramanujam, Pierre M. LarochelleAbstract:This paper presents the definition of a Coordinate Frame, entitledthe principal Frame PF, that is useful for metric calculations onspatial and planar rigid-body displacements. Given a set of dis-placements and using a point mass model for the moving rigid-body, the PF is determined from the associated centroid and prin-cipal axes. It is shown that the PF is invariant with respect to thechoice of fixed Coordinate Frame as well as the system of unitsused. Hence, the PF is useful for left invariant metric computa-tions. Three examples are presented to demonstrate the utility ofthe PF.
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A Metric for Planar Displacements
2007Co-Authors: Venkatesh Venkataramanujam, Pierre M. LarochelleAbstract:which facilitate the measurement of parameters such as "distance" and "length" are used frequently in rigid body guidance problems. Commonly used metrics have a characteristic of being dependent on the choice of fixed or moving reference Frame and the units used. Most motion synthesis algorithms require some notion of the "distance" between two desired locations 1 . The metrics in Euclidean space depend on the Coordinate Frame and units used. A metric independent of these choices is desirable. In this paper we present a metric which is independent of the choice of fixed Coordinate Frame.
Yunjiang Lou - One of the best experts on this subject based on the ideXlab platform.
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task cartesian Coordinate Frame based high precision 3 d adaptive robust contouring control
Robotics and Biomimetics, 2019Co-Authors: Zhihao Zhang, Ran Shi, Yunjiang LouAbstract:Contouring error is an important index for the surface precision of work pieces in tracking motion. In this paper, for settle the contouring error estimation which is only calculated on tangent line along the desired trajectory and improve 3-D contouring performance under disturbances, an adaptive robust controller (ARC) is adopted in task cartesian Coordinate Frame (TCCF). In addition, The TCCF can reduce the number of controller from three dimension regulation problem to two which is compared with the task Coordinate Frame (TCF). Theoretically, the controller is proved that the stability can be achieved. Experiments are conducted in a three- axis servo system. Compared with computed-torque controller (CTC), ARC in TCCF can get higher overall contouring precision under the disturbances drastically and reduce the number of controllers.
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A Novel Task Coordinate Frame Reduced- Dimension 3-D Contouring Control
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Ran Shi, Yunjiang Lou, Xiang ZhangAbstract:In typical contour-following applications such as computer numerical control (CNC) machining, contouring error characterizes the surface quality of final workpieces. The traditional task Coordinate Frame (TCF)-based approach transforms the contouring control problem into a 3-D regulation problem along the axes of the local Frenet Frame. The contouring error is then controlled indirectly by two decoupled regulation systems. In order to achieve a satisfactory contouring error performance, two sets of control parameters must be tuned for the two systems, respectively. In this paper, a novel TCF (nTCF) is proposed. Given the nearest position from the actual position to the desired (or approximated) contour, one axis is set along the line passing the actual position and the nearest position and another axis is along the advancing direction. The system dynamics in the world Cartesian Coordinate Frame is transformed into nTCF. The contouring control problem for 3-D contours can be reduced and it locally becomes a 2-D regulation problem, one in contouring direction and the other in advancing direction. By implementing the computed-torque control, two proportional-derivative controllers are integrated to regulate the advancing error and the contouring error, respectively. The contouring error is directly regulated by tuning a single set of control parameter, which becomes much simpler than that in the TCF-based approach, where two sets of control parameters are needed to tune. Experiments on an industrial three-axis glass engraving computer numerical control (CNC) machine show the validity of the proposed nTCF-based approach with two typical 3-D contours. Note to Practitioners —In machining applications, the contouring error is a crucial index with respect to the surface quality of machined parts. In this paper, a novel task Coordinate Frame (nTCF) is proposed to deal with the 3-D contouring control issue. By transforming the system dynamics from the world Cartesian Coordinate Frame to nTCF in real-time control, a 3-D contouring control problem is locally reduced and transformed into a 2-D error dynamics regulation problem. In the nTCF, the contouring performance and advancing performance can be decoupled and separately regulated by only two parameters in 3-D contouring control applications. The contouring error can be directly controlled. Moreover, existing contouring error calculation (estimation) techniques, such as linear approximation, circular approximation, or analytical methods, can be readily integrated into the nTCF-based approach. Both analysis and experiments show that the nTCF-based approach is effective and much simpler in parameter tuning for 3-D contouring control.
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Task Polar Coordinate Frame-Based Contouring Control of Biaxial Systems
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Yunjiang Lou, Hao Meng, Jiangzhao Yang, Jian Gao, Xin ChenAbstract:Contouring control is crucial in high-speed and high-precision manufacturing. In this paper, a novel task polar Coordinate Frame (TPCF), moving along the desired contour, is proposed to naturally calculate and control the estimated contouring error by the circular approximation, a second-order approximation. The dynamics in the world Cartesian Coordinate Frame is transformed into radial and angular dynamics in the local polar Coordinate Frame. By the feedback linearization technique and an input feedforward compensation, the closed-loop dynamics are decoupled in terms of the estimated contouring error and the angular error, respectively. Proportional-plus-derivative controllers can be assigned to stabilize the individual axis dynamics in the TPCF. By tuning the control parameters, different strengthening on estimated contouring error and angular error can be imposed explicitly and directly. Various experiments on an XY-stage biaxial system with typical contours, a circle and a figure-"8," were conducted. Comparative studies are carried out for the TPCF- and traditional Frenet Frame-based controls. The contouring errors were drastically reduced by the proposed approach, particularly in high-speed and large-curvature contouring cases
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High speed contouring control of biaxial systems based on task polar Coordinate Frame
2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA), 2013Co-Authors: Hao Meng, Yunjiang Lou, Jiaying ChenAbstract:Contouring control based on task Coordinate Frames (TCF) can improve the contouring performance directly by strengthening the tracking capability along contour-following direction. A novel task polar Coordinate Frame (TPCF) is proposed for the biaxial system contouring control, based on circular approximation. Compared with the classical TCF using tangent line approximation, TPCF can achieve more accurate contouring error estimation for free-form contours. The controller is designed in TPCF via linearizing the transformed error dynamics which is strong coupling and nonlinear. Different dynamics are assigned to the radial (representing the contour following direction) and the angular (representing the trajectory tracking direction) with a strong emphasis on minimizing the contouring error. Experiments on an XY-stage verified that TPCF based contouring control could decrease the contouring error much more evidently compared with classical TCF based, especially in high speed and/or large curvature cases.
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direct contour error compensation for biaxial contouring control systems based on a global fixed Coordinate Frame
World Congress on Intelligent Control and Automation, 2011Co-Authors: Jiangzhao Yang, Yunjiang Lou, Hong Wang, Zhili LongAbstract:In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving Coordinate Frame and has to be transformed back to the fixed Coordinate Frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed Coordinate Frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed Coordinate Frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed Coordinate Frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.
Venkatesh Venkataramanujam - One of the best experts on this subject based on the ideXlab platform.
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An Improved Principal Coordinate Frame for use with Spatial Rigid Body Displacement Metrics
Advances in Mechanism and Machine Science, 2019Co-Authors: Pierre M. Larochelle, Venkatesh VenkataramanujamAbstract:This paper presents an improved definition of a Coordinate Frame, entitled the principal Frame (PF), that is useful for metric calculations on spatial rigid-body displacements. For a finite set of displacements a point mass model of the moving rigid-body is employed. Next, we compute the centroid and principal axes associated with the point mass locations. The PF is then determined from the principal axes. Here, a new algorithm for determining the PF from the principal axes is proposed. The PF is invariant with respect to the choice of the fixed Coordinate Frame as well as the system of units used; therefore, the PF is useful for left invariant metric computations. An example including a set of 10 spatial rigid-body displacements is presented to demonstrate the application and utility of the PF.
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A Coordinate Frame Useful for Rigid-Body Displacement Metrics
Journal of Mechanisms and Robotics, 2010Co-Authors: Venkatesh Venkataramanujam, Pierre M. LarochelleAbstract:This paper presents the definition of a Coordinate Frame, entitledthe principal Frame PF, that is useful for metric calculations onspatial and planar rigid-body displacements. Given a set of dis-placements and using a point mass model for the moving rigid-body, the PF is determined from the associated centroid and prin-cipal axes. It is shown that the PF is invariant with respect to thechoice of fixed Coordinate Frame as well as the system of unitsused. Hence, the PF is useful for left invariant metric computa-tions. Three examples are presented to demonstrate the utility ofthe PF.
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A Metric for Planar Displacements
2007Co-Authors: Venkatesh Venkataramanujam, Pierre M. LarochelleAbstract:which facilitate the measurement of parameters such as "distance" and "length" are used frequently in rigid body guidance problems. Commonly used metrics have a characteristic of being dependent on the choice of fixed or moving reference Frame and the units used. Most motion synthesis algorithms require some notion of the "distance" between two desired locations 1 . The metrics in Euclidean space depend on the Coordinate Frame and units used. A metric independent of these choices is desirable. In this paper we present a metric which is independent of the choice of fixed Coordinate Frame.