Contour tracking control in position domain: principle, development, and application

机器人系统的高度复杂性、非线性和广泛的应用引起了机器人控制领域的广泛研究。许多控制方法已经被开发，以实现高轮廓跟踪和可靠的性能为目标。在申请人最近的研究中，以用于机器人系统的PD/PID控制律的简单形式引入了位置域控制的概念，以改善轮廓跟踪性能，作为时域控制的上级替代方案。为了建立位置域控制系统，多轴机器人系统被视为主从运动系统。测量主运动并将其用作不会对最终轮廓误差产生任何误差的参考，并且根据轮廓轨迹要求将从运动描述为主运动的函数。从运动控制是基于主运动在位置域中实现的。为了促进新型位置域控制及其在制造业中的应用，有必要对位置域控制系统进行理论研究和系统开发。本研究旨在发展位置域控制理论、方法及应用于制造过程中的轮廓追踪，以作为一种比时域控制具有上级性能的替代方法，本研究计划的长远目标是使位置域控制成为机器人系统轮廓追踪的核心控制技术，以提高制造过程中的产品质量。该研究计划的目的是发展一个通用的位置域控制理论，可以集成传统的时域控制理论，提供替代，但上级控制系统的轮廓跟踪应用，并探索其应用混合机器人系统。本研究将发展以下使能技术，使位置域控制成为现实，并在制造过程中的潜在应用：（1）位置域控制的理论研究，建立一个统一的系统架构，可以集成的位置域控制和时域控制。(2)开发先进的位置域控制系统，将在时间域开发的控制方法扩展到位置域。(3)位置域控制系统在宏微混合运动系统和混合驱动系统中的测试、验证和应用。申请人有一个经过验证的研究记录，一个有能力和有动力的团队来成功完成拟议的研究计划。该项目将为培养2名博士生和2名硕士生提供良好的环境，使他们具备多学科知识和前沿研究技术。本研究之结果将可引导轮廓追踪控制于真实的应用，以提升加拿大制造业之竞争力。

The high complexity, nonlinearity, and wide applications of robotic systems have led to extensive research in the field of robot control. Many control methods have been developed with the goal of achieving high contour tracking and reliable performances. In the applicant's recent research, the concept of position domain control was introduced in a simple form of PD/PID control laws for robotic systems to improve contour tracking performance as a superior alternative to time domain control. To build the position domain control system, a multi-axis robotic system is viewed as a masterslave motion system. The master motion is measured and used as a reference that will not produce any error to the final contour error, and the slave motions are described as functions of the master motion according to the contour trajectory requirements. Slave motion control is implemented in position domain based on the master motion. Theoretical research and systematic development of position domain control systems are necessary in order to promote the new position domain control and its applications in manufacturing industry. This research aims to develop position domain control theory, methods, and applications for contour tracking in manufacturing processes as an alternative that has superior performance than the time domain counterparts.The long-term goal of this research program is to make position domain control as a core control technology for contour tracking of robotic systems and to improve product quality in manufacturing processes. The research program aims at developing a general position domain control theory that can integrate the traditional time domain control theory, providing alternative but superior control systems for contour tracking applications, and exploring its applications for hybrid robotic systems. This research will develop the following enabling technologies to make position domain control a reality and potential applications in manufacturing processes: (1) Theoretical study of position domain control to build a united system architecture that can integrate position domain control and time domain control. (2) Development of advanced position domain control systems to expand the control methods developed in time domain to position domain. (3) Testing, verification, and application of the position domain control system in hybrid macro-micro motion systems and hybrid actuation systems.The applicant has a proven research record, a capable and motivated team to succeed in the proposed research program. This program will build an excellent environment for training 2 PhD students and 2 master's students to equip them with multi-disciplinary knowledge and cutting-edge research techniques. Results of this research can lead to the real application of contour tracking control for performance improvement, and advance the competitiveness of the manufacturing sector in Canada.