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
StatePublished - 1 Dec 2007
Event22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007 - Dallas, TX, United States
Duration: 14 Oct 200719 Oct 2007

Publication series

NameProceedings of the 22nd Annual ASPE Meeting, ASPE 2007

Conference

Conference22nd Annual Meeting of the American Society for Precision Engineering, ASPE 2007
CountryUnited States
CityDallas, TX
Period14/10/0719/10/07

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