Position domain contour tracking control: Theory and controllers

Abstract

Contour tracking is one of the most tasks in precision manufacturing processes by robotic systems. To reduce the contour error for improving quality of production, many control algorithms were developed in time domain. In this paper, the position domain control theory is introduced to deal with the contour tracking problem, which is different from the time domain counterparts. An integrated architecture is presented that can bring the time domain control system into the position domain control system. Several control algorithms are discussed from simple linear controllers to advanced adaptive nonlinear controllers. Two position domain control applications are presented to demonstrate the effectiveness of the new control theory and methods.