@inproceedings{efbb42bedb9e4b4d9ed734a1e63b0c23,
title = "A novel cross-coupled synchronizing control method of industrial robot for trajectory tracking",
abstract = "Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.",
keywords = "cross-coupled control, serial industrial robot, synchronous error, trajectory tracking",
author = "Lidong Yang and Yanjie Liu and Haijun Han",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015 ; Conference date: 01-12-2015 Through 04-12-2015",
year = "2016",
month = feb,
day = "19",
doi = "10.1109/MEACS.2015.7414983",
language = "英语",
series = "Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015",
address = "美国",
}