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A contouring control method that integrates the equivalent errors and non-uniform rational B-spline (NURBS) interpolator is proposed in this study. The method of equivalent errors has been shown to possess many advantages for the contouring control of multi-axis motion systems. A key requirement of the method is that the desired path should be represented by algebraic path equations in generalized...
This work is concerned with the contouring control problem of robotic manipulators using the method of equivalent errors. The method was previously proposed for multi-axis motion systems with emphasis on the machine tools applications. It is shown in this paper that the method of equivalent errors is equally applicable to the robot manipulators. For robotic systems, a desired path is usually described...
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