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A general framework for solving inverse dynamics problems in multi-axis motion control.

Bohan Zhu1, Rida T Farouki1

  • 1Department of Mechanical and Aerospace Engineering, University of California, Davis, CA 95616, USA.

ISA Transactions
|June 3, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces an inverse dynamics compensation (IDC) scheme to improve multi-axis motion controller accuracy for curvilinear paths. The method corrects deviations caused by machine inertia and damping, enhancing path following performance.

Keywords:
CNC machineContour errorFeedrateInverse dynamicsPID controllerPath modificationPythagorean-hodograph curve

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Area of Science:

  • Robotics and Control Systems
  • Mechanical Engineering
  • Applied Mathematics

Background:

  • Multi-axis motion controllers often exhibit path deviations due to machine inertia and damping.
  • Accurate execution of curvilinear paths is critical in many automated manufacturing and robotic applications.
  • Existing compensation methods may not fully address dynamic effects in complex motion profiles.

Purpose of the Study:

  • To propose a novel inverse dynamics compensation (IDC) scheme for multi-axis motion controllers executing curvilinear paths.
  • To theoretically eliminate path deviations caused by machine dynamics.
  • To provide a systematic and adaptable framework for motion control enhancement.

Main Methods:

  • The IDC scheme computes real-time path corrections based on a parametric curve representation.
  • Dynamic equations are exploited using their linear time-invariant nature.
  • A real-time interpolator algorithm determines curve parameter values after computing the correction term.
  • The compensation is formulated using linear differential operator formalism.

Main Results:

  • The IDC scheme generates correction terms comprising derivative, natural, and integral components for P, PI, and PID controllers.
  • The integral term's integrand depends solely on the path, not its derivatives.
  • Lead segments are discussed for minimizing initial condition-related transient effects.
  • Simulation results demonstrate the effectiveness of the proposed IDC method.

Conclusions:

  • The proposed IDC scheme effectively compensates for dynamic errors in multi-axis motion control of curvilinear paths.
  • The method offers a clear, general, and systematic approach that is amenable to further extensions.
  • This technique has the potential to significantly improve the precision and performance of motion control systems.