An advanced NURBS interpolator for mechanical-coupled linear servo systems

Chung Wei Cheng, Chun Hsien Yang, Mi-Ching Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 22nd Annual ASPE Meeting, ASPE 2007
Publication statusPublished - 2007 Dec 1
Event22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007 - Dallas, TX, United States
Duration: 2007 Oct 142007 Oct 19

Publication series

NameProceedings of the 22nd Annual ASPE Meeting, ASPE 2007

Other

Other22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007
CountryUnited States
CityDallas, TX
Period07-10-1407-10-19

Fingerprint

Servomechanisms
Splines
Deceleration
Planning
Interpolation
Digital signal processors
Real time control
Motion control
Controllers

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

Cite this

Cheng, C. W., Yang, C. H., & Tsai, M-C. (2007). An advanced NURBS interpolator for mechanical-coupled linear servo systems. In Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007 (Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007).
Cheng, Chung Wei ; Yang, Chun Hsien ; Tsai, Mi-Ching. / An advanced NURBS interpolator for mechanical-coupled linear servo systems. Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007. 2007. (Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007).
@inproceedings{6f9b97746b8240fca9c8d8eb4b9ca17b,
title = "An advanced NURBS interpolator for mechanical-coupled linear servo systems",
abstract = "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.",
author = "Cheng, {Chung Wei} and Yang, {Chun Hsien} and Mi-Ching Tsai",
year = "2007",
month = "12",
day = "1",
language = "English",
isbn = "9781887706452",
series = "Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007",
booktitle = "Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007",

}

Cheng, CW, Yang, CH & Tsai, M-C 2007, An advanced NURBS interpolator for mechanical-coupled linear servo systems. in Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007. Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007, 22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007, Dallas, TX, United States, 07-10-14.

An advanced NURBS interpolator for mechanical-coupled linear servo systems. / Cheng, Chung Wei; Yang, Chun Hsien; Tsai, Mi-Ching.

Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007. 2007. (Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

UR - http://www.scopus.com/inward/record.url?scp=84884787079&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84884787079&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9781887706452

T3 - Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007

BT - Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007

ER -

Cheng CW, Yang CH, Tsai M-C. An advanced NURBS interpolator for mechanical-coupled linear servo systems. In Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007. 2007. (Proceedings of the 22nd Annual ASPE Meeting, ASPE 2007).