Contouring Control of an Innovative Manufacturing System Based on Dual-Arm Robot
Journal article
Authors/Editors
Strategic Research Themes
Publication Details
Author list: Kornmaneesang W., Chen S., Boonto S.
Publisher: Institute of Electrical and Electronics Engineers
Publication year: 2021
Journal acronym: T-ASE
Volume number: 19
Issue number: 3
ISSN: 1545-5955
eISSN: 1558-3783
Languages: English-Great Britain (EN-GB)
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Abstract
In this article, an innovative manufacturing system based on a dual-arm robot, each arm with five degree-of-freedom (DOF), is proposed. Although the proposed system can work in the automation mode or machining mode, only the function of machining is studied here. In this case, the system is equivalent to a five-axis machine tool. The method of equivalent errors is employed to design a robust contouring controller. It is shown that reducing the equivalent contour error in the joint space is equivalent to reducing both position contour error and tool orientation error in the task space. As a comparison, a conventional distributed controller is also designed. Several cases of experiments have been conducted, including a circular path with four different feedrates and an elliptic path. The experimental results show that the proposed method can achieve much better results in all cases, and demonstrate the feasibility of adopting the dual-arm robotic system for machining task. IEEE
Keywords
dual-arm robot, manufacturing system.
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