A new way of interpreting the 3D dynamic contouring errors attributed to a multi-axis robot system based on a relaxed performance measure was introduced. Generic contouring error models were derived for evaluating path following performance for planar and spatial contours. Estimated errors were then correlated to experimental tracking test results. Finally, an overall robot contouring performance budget was mapped into joint domain dynamics matching criteria which considered to be more meaningful from a control standpoint.

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