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- W2131027757 abstract "This paper describes the proposal of preview controller with time based spline approximation for multi axis manipulator. The command trajectory on the geometrical coordinates is projected into time domain trajectory function. The command of position, velocity and acceleration are calculated by time based spline approximation. Simulation result shows that the tracking error and servo lag has reduced. Experiment by the x-y table for laser cutting machine shows that the actual tracking error has remarkably reduced. With proposed preview controller, smooth motion can be realized at the change of the velocity and acceleration" @default.
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- W2131027757 date "2006-11-01" @default.
- W2131027757 modified "2023-09-23" @default.
- W2131027757 title "A Preview Controller with Time Based Spline Approximation for Multi-axis Manipulator" @default.
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- W2131027757 doi "https://doi.org/10.1109/iecon.2006.347645" @default.
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