This paper focuses on the motion control for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. In many cases the repetitiveness of these structures is prone to imperfections, for example due to thermal expansion, such that the distance between successive features deviates. As a consequence the metric positions of the features of such near-repetitive structures are unknown a priori such that setpoints cannot be created a priori. The considered motion task in this paper is to position a tool relative to the features of a near-repetitive structure with an accuracy of View the MathML source. Instead of metric positions novel two-dimensional feature-based positions will be used that are obtained from a camera capturing images at 1 kHz for feedback, resulting in a direct visual servoing control approach. The robustness with respect to imperfections in the repetitiveness is investigated and the design is validated on an experimental setup.
Planar feature-based motion control for near-repetitive structures
2014-01-01
Best, de , J J T H , Molengraft, van de , M J G & Steinbuch , M 2014 , ' Planar feature-based motion control for near-repetitive structures ' , Control Engineering Practice , vol. 29 , pp. 123-124 . https://doi.org/10.1016/j.conengprac.2014.03.012
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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