Chingyei Chung

Tangential-Contouring Controller for Biaxial Motion Control

In biaxial contour tracking applications, the main concerns are the tangential and the contour errors. This paper presents a tangential-contouring controller to achieve effect and decoupled control of these concerns. The proposed controller is based on a coordinate transformation between the X-Y frame and a tangential-contouring (T-C) frame that is defined along the contour. Experimental evaluation for the proposed controller is conducted on a biaxial positioning table.

A motion planning algorithm for redundant kinematic structure

In this paper a motion planning algorithm for a mechanical system with redundant degrees of freedom is presented. This algorithm measures the motion vectors on the tool end which were generated by each degree of freedom. The components of these vectors on the desired moving direction are compared and used to determine the moving range of each degree of freedom. Convergence of the trajectory of machine tool to the desired path or end point is ensured by an error control function which also affects the moving ranges. The effectiveness of this approach is illustrated through the results of computer simulation.

A New Tool for Robust Control

We present a new tool for the analysis and design of uncertain linear systems. A robustness measure is developed based on the characteristic equation root locations. This measure has a useful geometric interpretation.