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Developed a preview control method for contour-following in robots, suggesting improved performance with future data.
A contour-following system using accommodation force control is modeled in the discrete-time domain. One of fundamental problems in the control of robot contour-following is that unexpected workpiece disturbances degrade the system performance. If the controller for edge-following can use future as well as present contour shape information, better performance may be expected. This type of control is called preview control. A general method for developing a preview controller is given. A Kalman filtering algorithm is applied to reconstruct the system states and to filter noisy force measurements. The controller is implemented on a VME-based computer, and experimentation using a PUMA 560 industrial robot is presented.
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Yong et al. (1995) studied this question.
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