Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Robotics
Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma
Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma
Doctoral Dissertations
“A more efficient and increasingly popular volumetric error compensation method for machine tools is to compute compensation tables in axis space with tool tip volumetric measurements. However, machine tools have high-order geometric errors and some workspace is not reachable by measurement devices, the compensation method suffers a curve-fitting challenge, overfitting measurements in measured space and losing accuracy around and out of the measured space. Paper I presents a novel method that aims to uniformly interpolate and extrapolate the compensation tables throughout the entire workspace. By using a uniform constraint to bound the tool tip error slopes, an optimal model with …
Controlled Switching In Kalman Filtering And Iterative Learning Controls, He Li
Controlled Switching In Kalman Filtering And Iterative Learning Controls, He Li
Masters Theses
“Switching is not an uncommon phenomenon in practical systems and processes, for examples, power switches opening and closing, transmissions lifting from low gear to high gear, and air planes crossing different layers in air. Switching can be a disaster to a system since frequent switching between two asymptotically stable subsystems may result in unstable dynamics. On the contrary, switching can be a benefit to a system since controlled switching is sometimes imposed by the designers to achieve desired performance. This encourages the study of system dynamics and performance when undesired switching occurs or controlled switching is imposed. In this research, …