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In addition, contour error controller is presented to reduce the estimated contour error.
The top level goal (i.e., zero contour error) is propagated to the lower level by an aggregation relationship between contour error and physical linear axis variables.
A contour index (CI) is evaluated geometrically, which can be treated as an equivalent contour error such that a reduction in CI implies a reduction in contour error.
Because the contour error is more important than the tracking error with respect to each feed drive, the contour error component is included in the proposed sliding surface.
The proposed motion control scheme consists of a feedback controller, a feedforward controller, and a modified contour error controller (CCC equipped with a real-time contour error estimator).
To reduce contour error in contour-following tasks, a common approach is to design a controller based on the contour error information.
The experimental results show that the new structure of cross-coupling controller remarkably reduces contour error.
Simulation and experimental results demonstrate the effectiveness of the proposed contour error estimation algorithm.
The results revealed that the maximum contour error can be reduced by about 37% on average.
An algebraic equation based contour error model is used as the CCC input.
In the proposed contour error estimation method, the tool tip position contour error is estimated at first, followed by calculating the relative tool orientation contour error which is synchronized with the tool tip position contour error to one same pose on the desired trajectory.
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