윤곽오차 최소화를 위한 반복 궤적 수정 기반 제어기 설계

초록

This paper proposes a feedforward iterative trajectory modification method based on contour errors to improve the tracking accuracy of multi-axis robot manipulators. In contrast to traditional feedback-based controllers, the proposed method evaluates the contour error after each trajectory execution and updates the reference trajectory accordingly. This offline correction scheme does not require an accurate system model and improves trajectory precision through reiteration. The algorithm is robust to model uncertainties and is applicable to nonlinear systems such as six-degrees-of-freedom(6-DOF) manipulators. A stability analysis was performed using a Lyapunov-based formulation to ensure the convergence of the proposed algorithm under reasonable assumptions. The simulation results using a 6-DOF industrial manipulator demonstrated a significant reduction in average contour error with each iteration. Moreover, the algorithm maintained a strong performance even in the presence of modeling errors, indicating its practical potential for industrial applications.

키워드