Coordinated Position Control of Multi-Axis Mechanical Systems

[+] Author and Article Information
George T.-C. Chiu

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 120(3), 389-393 (Sep 01, 1998) (5 pages) doi:10.1115/1.2805413 History: Received March 02, 1994; Online December 03, 2007


Position coordination of multi-axis mechanical systems is studied. Under the assumption that the coordination objective can be represented by smooth functions of the positions of the multiple axes control systems, a necessary coupling effect can be introduced to each axis by the proper choice of a Lyapunov-like function. The resulting, control law requires the knowledge of the desired trajectories and their time derivatives as well as actual position and velocity information. Implementation of the proposed control algorithm on a CNC feed drive system shows significant improvement in dimensional accuracy during high speed contouring.

Copyright © 1998 by The American Society of Mechanical Engineers
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