Control of Machine Tools and Robots

摘要

The principal control structure of CNC machine tools and industrial robots is similar, since in both systems each axis of motion is separately controlled with a position feedback loop. Nevertheless, the control of robots is more complex, since they include more degrees of freedom and the motion of each joint is not independent of other joints. This paper compares the conventional control schemes of both systems, and summarizes recent developments in adaptive control of machine tools and robots.