Abstract
In machining processes, contouring accuracy is usually more important than tracking performance. In order to reduce the contour error, there have been many contour control algorithms for conventional machine tools, which noticeably improve their contouring accuracy. However, the available contour control algorithms cannot be directly applied to the parallel machine tools. The dynamic characteristics of the parallel machine tools are not consistent inside workspace and unsymmetrical disturbances can be imposed on any axis. Due to these, mismatched dynamics cause unwanted contour error. In this paper, we present a contour control algorithm for the cubic parallel machine tool that employs the parallel mechanism for its moving table, which can be also applied to a general parallel manipulator. The contour error estimation method for free-formed curve trajectory is proposed and the relation between the contour error vectors in joint and Cartesian spaces is considered. In order to show the validity of the algorithm, the contour control simulations and experiments are made for various contour trajectories with the cubic parallel machine tool. The results show that the proposed controller reduces the contour error considerably both in joint and Cartesian spaces.
| Original language | English |
|---|---|
| Title of host publication | American Society of Mechanical Engineers, Manufacturing Engineering Division, MED |
| Pages | 533-540 |
| Number of pages | 8 |
| Volume | 14 |
| DOIs | |
| Publication status | Published - 2003 Dec 1 |
| Event | 2003 ASME International Mechanical Engineering Congress - Washington, DC., United States Duration: 2003 Nov 15 → 2003 Nov 21 |
Other
| Other | 2003 ASME International Mechanical Engineering Congress |
|---|---|
| Country | United States |
| City | Washington, DC. |
| Period | 03/11/15 → 03/11/21 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Contour Controller Design for Cubic Parallel Machine Tool. / Kim, Sungsoo; Lee, Seung Hwan; Hong, Daehie; Choi, Woo Chun; Song, Jae-Bok.
American Society of Mechanical Engineers, Manufacturing Engineering Division, MED. Vol. 14 2003. p. 533-540.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Contour Controller Design for Cubic Parallel Machine Tool
AU - Kim, Sungsoo
AU - Lee, Seung Hwan
AU - Hong, Daehie
AU - Choi, Woo Chun
AU - Song, Jae-Bok
PY - 2003/12/1
Y1 - 2003/12/1
N2 - In machining processes, contouring accuracy is usually more important than tracking performance. In order to reduce the contour error, there have been many contour control algorithms for conventional machine tools, which noticeably improve their contouring accuracy. However, the available contour control algorithms cannot be directly applied to the parallel machine tools. The dynamic characteristics of the parallel machine tools are not consistent inside workspace and unsymmetrical disturbances can be imposed on any axis. Due to these, mismatched dynamics cause unwanted contour error. In this paper, we present a contour control algorithm for the cubic parallel machine tool that employs the parallel mechanism for its moving table, which can be also applied to a general parallel manipulator. The contour error estimation method for free-formed curve trajectory is proposed and the relation between the contour error vectors in joint and Cartesian spaces is considered. In order to show the validity of the algorithm, the contour control simulations and experiments are made for various contour trajectories with the cubic parallel machine tool. The results show that the proposed controller reduces the contour error considerably both in joint and Cartesian spaces.
AB - In machining processes, contouring accuracy is usually more important than tracking performance. In order to reduce the contour error, there have been many contour control algorithms for conventional machine tools, which noticeably improve their contouring accuracy. However, the available contour control algorithms cannot be directly applied to the parallel machine tools. The dynamic characteristics of the parallel machine tools are not consistent inside workspace and unsymmetrical disturbances can be imposed on any axis. Due to these, mismatched dynamics cause unwanted contour error. In this paper, we present a contour control algorithm for the cubic parallel machine tool that employs the parallel mechanism for its moving table, which can be also applied to a general parallel manipulator. The contour error estimation method for free-formed curve trajectory is proposed and the relation between the contour error vectors in joint and Cartesian spaces is considered. In order to show the validity of the algorithm, the contour control simulations and experiments are made for various contour trajectories with the cubic parallel machine tool. The results show that the proposed controller reduces the contour error considerably both in joint and Cartesian spaces.
UR - http://www.scopus.com/inward/record.url?scp=1842590510&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1842590510&partnerID=8YFLogxK
U2 - 10.1115/IMECE2003-42686
DO - 10.1115/IMECE2003-42686
M3 - Conference contribution
AN - SCOPUS:1842590510
VL - 14
SP - 533
EP - 540
BT - American Society of Mechanical Engineers, Manufacturing Engineering Division, MED
ER -