ICRA 2011 Paper Abstract

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Paper WeP213.6

Xu, Xiong (Shanghai Jiao Tong University), Sheng, Xinjun (Shanghai Jiao Tong University), Xiong, Zhenhua (Shanghai Jiao Tong University), Zhu, Xiangyang (Shanghai Jiao Tong University)

Time-Stamped Cross-Coupled Control in Networked CNC Systems

Scheduled for presentation during the Regular Sessions "Factory Automation" (WeP213), Wednesday, May 11, 2011, 16:40−16:55, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Sensor Networks, Motion Control of Manipulators, Manufacturing, Maintenance and Supply Chains

Abstract

This paper proposes a time-stamped cross-coupled control (TSCCC) algorithm to deal with the asynchronous sampling and network-induced delays in networked computer numerical control (CNC) machines. It uses time-stamps to estimate the network-induced delays from the sampling instants of different axes to the controller node. The network-induced delays are considered for accurately estimating the contour error in real-time. Furthermore, a networked CNC simulation system based on TrueTime toolbox is constructed, on which the proposed TSCCC algorithm is compared with the cross-coupled control (CCC) algorithm. Simulation results on two DC servomotors show that the TSCCC algorithm achieves better contour accuracy than the CCC algorithm.

 

 

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