TY - GEN
T1 - An advanced NURBS interpolator for mechanical-coupled linear servo systems
AU - Cheng, Chung Wei
AU - Yang, Chun Hsien
AU - Tsai, Mi-Ching
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This study presents a real-time motion control scheme for the control of mechanical-coupled linear servo systems. The scheme comprises a variable-feedrate non-uniform rational B-spline (NURBS) curve interpolator with an S-curve velocity planning function and a synchronous controller, which are implemented in real-time using a digital signal processor. In the proposed approach, acceleration/deceleration (ACC/DEC) planning on the feedrate command is performed prior to the feedrate interpolation process such that the path command errors caused by conventional schemes in which ACC/DEC planning is executed after feedrate interpolation are eliminated. The effectiveness of the proposed control structure is demonstrated experimentally using a NURBS circle for illustration purposes.
AB - This study presents a real-time motion control scheme for the control of mechanical-coupled linear servo systems. The scheme comprises a variable-feedrate non-uniform rational B-spline (NURBS) curve interpolator with an S-curve velocity planning function and a synchronous controller, which are implemented in real-time using a digital signal processor. In the proposed approach, acceleration/deceleration (ACC/DEC) planning on the feedrate command is performed prior to the feedrate interpolation process such that the path command errors caused by conventional schemes in which ACC/DEC planning is executed after feedrate interpolation are eliminated. The effectiveness of the proposed control structure is demonstrated experimentally using a NURBS circle for illustration purposes.
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M3 - Conference contribution
AN - SCOPUS:84884787079
SN - 9781887706452
T3 - Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007
BT - Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007
T2 - 22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007
Y2 - 14 October 2007 through 19 October 2007
ER -