In this paper, the time optimal feedrate planning problem under confined feedrate, axis velocity, axis acceleration, axis jerk, and axis tracking error for a high order CNC servo system is studied. The problem is useful in that the full ability of the CNC machine is used to enhance the machining productivity while keeping the machining precision under a given level. However, the problem is comp...

We address the problem of applying reactive navigation methods to non-holonomic robots. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot’s kinematic constraints directly in the spatial representation. In this space the Ego-Kinematic Space the robot moves as a “free-flying object”. Hence, standard reactive navigation methods appli...

Jianhao Zhang, Jinda Cai Numerical Control And Display Lab, USST, 200093 ShangHai,China Emails:[email protected] Abstract:A method of compensation is proposed based on the error model with the robot’s parameters of kinematic structure and the joint angle. Using the robot kinematics equation depending on D-H algorithm, a kinematic error model is deduced relative to the end actuator of the robot, ...

The kinematic filter is a common tool in control and signal processing applications dealing with position, velocity and other kinematical variables. Usually the filter gain is given a fixed value determined due to dynamic and measurement conditions. Most studies provide analytical solutions for optimal gains in particular scenarios. In practice, due to a lack of information (or under timevaryin...

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (two drivable and steerable wheels) operating in cluttered environments. Four new path following controllers are developed to steer the kinematic model of a rhombic like vehicle along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; wh...

Kinematic surfaces form a general class of surfaces, including surfaces of revolution, helices, spirals, and more. Standard methods for fitting such surfaces are either specialized to a small subset of these surface types (either focusing exclusively on cylinders or exclusively on surfaces of revolution) or otherwise are basis-dependent (leading to scale-dependent results). Previous work has su...

In the presented paper, the governing equations of a vibratory beam with moderately large deflection are derived using the first order shear deformation theory. The beam is homogenous, isotropic and it is subjected to the dynamic transverse and axial loads. The kinematic of the problem is according to the Von-Karman strain-displacement relations and the Hook's law is used as the constitutive eq...

An eye-in-hand system visually tracking objects can fail when the manipulator encounters a kinematic singularity or a joint limit. A solution to this problem is presented in which objects are visually tracked while the manipulator simultaneously avoids kinematic singularities and manipulator joint limits by moving in directions along which the tracking task space is unconstrained or redundant. ...