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Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of Robotic Manipulators Based on Contour Error Compensation
[article]
2021
arXiv
pre-print
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Secondly, an adaptive tuning approach is selected for avoid the demand of the bound of system uncertainty, and the stability of the proposed control strategy is demonstrated by the sense of the finite-time ...
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling ...
time of 1s and 2s, but the adaptive tuning method of the proposed control strategy for this kind of mutation is better than the traditional PID controller and the contour tracking error of the cross coupling ...
arXiv:2110.08705v1
fatcat:egbgegqwyfd3hmvivtrct4hhsi
Virtual Computer Numerical Control System
2006
CIRP annals
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This paper presents a comprehensive virtual simulation model for CNC systems. ...
Various application examples are presented which include the prediction of contour errors, auto-tuning of feed drive controllers, toolpath and feed modification for improved cornering, and rapid identification ...
Prediction of Contouring Accuracy The contour and tracking error prediction accuracy of the VCNC was verified by conducting diamond and circle machining tests on a three axis machining center, controlled ...
doi:10.1016/s0007-8506(07)60444-2
fatcat:egfygwitjzhw5oea45tsjrqqru
Adaptive Sliding Mode Contouring Control Design Based on Reference Adjustment and Uncertainty Compensation for Feed Drive Systems
2021
Tanzania Journal of Science
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This study focused on design of an adaptive sliding mode contouring control based on reference adjustment and uncertainty compensation for feed drive systems. ...
Adversely, high-speed motions cause mechanical vibrations, high-energy consumption, and insufficient accuracy. ...
The growing demands for precise products pose the need for high-speed production systems with high accuracy. ...
doi:10.4314/tjs.v47i5.23
fatcat:7rbfgykmivcq3ip2v2psg6apdm
Adaptive robust contour tracking of machine tool feed drive systems-a task coordinate frame approach
1997
Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)
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By transforming the machine tool feed drive dynamics to this task coordinate frame, an adaptive robust control (ARC) law is derived to improve the contouring performance under system parameter variation ...
The eectiveness of the proposed control law is demonstrated through the simulated control of an industrial CNC machine tool feed drive system. ...
Recently, Y ao and Tomizuka [27, 29, 26] introduced Adaptive Robust Control (ARC) for high performance robust control of systems with parametric uncertainties and uncertain nonlinearities. ...
doi:10.1109/acc.1997.611952
fatcat:fmgkfi6v5fbhjag47cwpyrwqvq
Cell Contour Tracking and Data Synchronization for Real-Time, High-Accuracy Micropipette Aspiration
2009
IEEE Transactions on Automation Science and Engineering
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Index Terms-Cell contour visual tracking, high accuracy, micropipette aspiration, precise data synchronization. ...
This paper presents an automated cell contour visual measurement technique and a data synchronization mechanism for real-time, high-accuracy mechanical characterization of individual cells with micropipette ...
Simmons' group for assistance with interstitial cell preparation, and Prof. G. Downey and Prof. M. Glogauer for the assistance with human neutrophils preparations. ...
doi:10.1109/tase.2009.2021356
fatcat:xksrrmdsbjgnhciqd5xnqylfy4
Real-Time High-Accuracy Micropipette Aspiration for Characterizing Mechanical Properties of Biological Cells
2007
Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on
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This paper presents a micropipette aspiration system and a cell contour visual tracking algorithm for realtime, high-accuracy mechanical characterization of individual cells. ...
Experimental results on both solid-like cells (interstitial cells) and liquid-like cells (neutrophils) demonstrate the effectiveness of the system and the visual tracking algorithm. ...
Craig Simmons for assistance with interstitial cell preparations, and Profs. Gregory Downey and Michael Glogauer for the assistance with human neutrophils preparations. ...
doi:10.1109/robot.2007.363604
dblp:conf/icra/LiuWS07
fatcat:m3cxeshivrasnfnvgiulpr5mjm
Contouring Accuracy Improvement Using an Adaptive Feedrate Planning Method for CNC Machine Tools
2016
Procedia CIRP
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The reduction of contour error plays an important role in achieving high accuracy machining. To reduce contour error, most of previous studies have focused on developing advanced control strategies. ...
As an alternative strategy, contouring accuracy improvement using an adaptive feedrate planning method is proposed in this paper. ...
Contour error model Generally speaking, good tracking performance is helpful for improving contouring accuracy. ...
doi:10.1016/j.procir.2016.10.012
fatcat:nfgcfii23fe7pnocbrdyk3o5re
Learning-Based Optimal Desired Compensation Adaptive Robust Control for a Flexure-Based Micro-Motion Manipulator
2017
Applied Sciences
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achieve excellent tracking and contouring performances with parametric adaption and disturbance robustness. ...
The proposed control approach was tested on the flexure-based micro-motion manipulator, with the comparative results of high-speed tracking experiments verifying that the proposed LODCARC controller can ...
Thus, our study demonstrates that the proposed LODCARC control strategy can provide a great technology for flexure-based stages to achieve excellent high-speed tracking and contouring performances. ...
doi:10.3390/app7040406
fatcat:zmk5d335azbmjjfpsb4dteofsm
Identification of Contours, Detection &Tracking of Vehicles
2020
International Journal for Research in Applied Science and Engineering Technology
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Detection, tracking, and counting of moving vehicles are very essential for continuous monitoring, tracking, and controlling of moving vehicles. ...
It is necessary to detect, track and count the moving vehicle as it is very important for controlling the flow of traffic. ...
EXISTING SYSTEM Earlier implementations were carried using image/video processing and detecting the objects is used for monitoring and controlling traffic flow has gained attention for several years. ...
doi:10.22214/ijraset.2020.5430
fatcat:so24h54tkvhzxk3h22unnuc2wq
Cross-coupled precompensation method for the contouring accuracy of computer numerically controlled machine tools
1997
International journal of machine tools & manufacture
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elimination of the steady-state errors, while the CCPM can achieve the most precise tracking for both linear and circular trajectory at any feedrat¢. ...
Compared with the conventional cross-coupled system and uncoupled system by computer simulation and experiment, the pure precompensation method is better in dealing with the circular trajectory and the ...
This control system contributes to machining accuracy, particularly those linear trajectory accuracies of high speed continuous feed drivers, by developing contour error compensators. ...
doi:10.1016/s0890-6955(96)00088-0
fatcat:iug4coq7ezffxahzvhnm242b7y
PO-0935: Evaluation of deformable image registration methods for dose monitoring in head and neck adaptive radiotherapy
2015
Radiotherapy and Oncology
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A linear Kalman filter prediction was used to account for the tracking system latency in the geometric and dosimetric accuracy experiments. ...
Results: The mean tracking system latency was 145ms (SD=7.4ms) for MLC tracking and 143ms (SD=17ms) for the tracking backup jaws. ...
Materials and Methods: An individualised patient contour, created by contracting the external patient contour by distances depending on the control point weighting in the VMAT plan, was created using an ...
doi:10.1016/s0167-8140(15)40927-2
fatcat:c6ebqcvravfshjlfb2upmaqfou
Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation
2019
Mathematical Problems in Engineering
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Simulation results indicate that the proposed contour error control method can effectively compensate for the effect of friction and improve contour control accuracy. ...
In two-axis servo contour motion control, friction and various uncertainties unavoidably exist, reducing the contour control accuracy. ...
To improve contour accuracy, we must design a high-performance contour controller. ...
doi:10.1155/2019/1420380
fatcat:g4w547wh4zdipac3mnppkftp4i
Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator
2021
Engineering Proceedings
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system. ...
To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. ...
Simulation results confirm that the proposed control strategy provides high tracking accuracy by combining contour error compensation with cylinder position control. ...
doi:10.3390/ecsa-8-11333
fatcat:bxysrxcpfrbdfgv2erzqnegkla
Robust Tracking of a Cost-Effective Micro-Stereolithography System Based on a Compliant Nanomanipulator
2019
Micromachines
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Besides the requirement of the light source, the motion system requires ultra-high-precision tracking capability to reach the right location for every solidification event. ...
The fabrication of a closed pattern will not begin by turning on the laser source until the tracking error reaches submicrons, and the fabrication results demonstrate that the cost-effective MSL system ...
For the sake of periodic tracking, we applied the plug-in repetitive control (plug-in RC) [21] to the RBF-based robust adaptive control system. ...
doi:10.3390/mi10110785
pmid:31744040
pmcid:PMC6915434
fatcat:djvztpoklvc45gs2behtu5ygfa
Nonlinear Contour Tracking of a Voice Coil Motors-Driven Dual-Axis Positioning Stage Using Fuzzy Fractional PID Control with Variable Orders
2021
Mathematical Problems in Engineering
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Moreover, the VOFFPID control system is designed to further improve the tracking responses of the FFPID control system. ...
With an additional degree of freedom to the control parameters and fuzzy operation, the FFPID control system can upgrade the contour tracking performance of a conventional proportional-integral-differential ...
VOFFPID controller in terms of the contour tracking accuracy is significant compared with that given by traditional PID and FFPID controllers. e contour tracking performance measures of the PID, FFPID ...
doi:10.1155/2021/6697942
fatcat:u6nea4g2kff3hd3dipy5ock7ne
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