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

机器人系统的高复杂性、非线性和广泛的应用导致了机器人控制领域的广泛研究。许多控制方法的发展目标是实现高轮廓跟踪和可靠的性能。在申请人最近的研究中，位置域控制的概念以PD/PID控制律的简单形式引入机器人系统，以提高轮廓跟踪性能，作为时域控制的优越替代方案。******为了构建位置域控制系统，将多轴机器人系统视为主从运动系统。测量主运动作为参考，不会对最终轮廓误差产生任何误差，根据轮廓轨迹要求将从运动描述为主运动的函数。在主运动的基础上，在位置域实现从运动控制。******为了促进新型位置域控制及其在制造业中的应用，对位置域控制系统进行理论研究和系统开发是必要的。本研究旨在发展位置域控制理论、方法和应用于制造过程中的轮廓跟踪，作为一种比时域跟踪性能更好的替代方法。******本研究计划的长期目标是使位置域控制成为机器人系统轮廓跟踪的核心控制技术，以提高制造过程中的产品质量。******该研究计划旨在发展一种通用的位置域控制理论，可以整合传统的时域控制理论，为轮廓跟踪应用提供替代但优越的控制系统，并探索其在混合机器人系统中的应用。******本研究将开发以下使能技术，使位置域控制成为现实，并在制造过程中具有潜在的应用前景：(1)对位置域控制进行理论研究，建立位置域控制与时域控制相结合的统一系统架构。(2)开发先进的位置域控制系统，将时域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作动系统中的测试、验证和应用。******申请人有可靠的研究记录，有能力和积极的团队在拟议的研究计划中取得成功。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。本研究的结果可以引导轮廓跟踪控制的实际应用，以提高性能，并促进加拿大制造业的竞争力。* * * * *

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. *** **