Experimental Evaluation of the Preview Servo Scheme for a Two-Axis Positioning System

[+] Author and Article Information
M. Tomizuka, D. Dornfeld, X.-Q. Bian, H.-G. Cai

Department of Mechanical Engineering, University of California, Berkeley, Calif. 94720

J. Dyn. Sys., Meas., Control 106(1), 1-5 (Mar 01, 1984) (5 pages) doi:10.1115/1.3149657 History: Received February 02, 1982; Online July 21, 2009


A preview servo scheme for position and velocity control is implemented on a two-axis welding table. The Kalman filtering theory is used to estimate the velocity from position measurements, and a cornering scheme is proposed to attain smaller path errors at sharp corners. The experimental results show that the preview-servo scheme with the Kalman filter and corner preview features is suitable for on-line control of the welding system.

Copyright © 1984 by ASME
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