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
Country/TerritoryUnited States
CityDallas, TX
Period07-10-1407-10-19

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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