High-performance contouring control of robots

High-performance position control algorithms for multi-axis servo-systems (such as robots), due to presence of asymmetric dynamics and disturbance, do not guarantee high-precision contour following. Dr. Azad Ghaffari and Prof. Galip Ulsoy have developed a new method, which uses dynamic contour error estimation and couples the axes in such multi-axis servo-systems, with integral sliding mode controllers, to reduce contour errors by at least an order of magnitude, even for complex contours and high-speed operations. The work has just been submitted for presentation at the American Control Conference to be held in Chicago during June 2015.