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Minimum-Time Cornering for Manufacturing Machines Using Optimal Control

[+] Author Affiliations
Molong Duan, Chinedum E. Okwudire

University of Michigan, Ann Arbor, MI

Paper No. DSCC2014-6143, pp. V001T13A003; 5 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4618-6
  • Copyright © 2014 by ASME


When traversing sharp corners, manufacturing machines are forced to tradeoff speed and accuracy. The most common way of reducing this tradeoff is to smooth the sharp corner using a pre-specified curve (e.g., a circular arc or spline). However, pre-specified curves cannot guarantee optimal performance. This paper presents a preliminary investigation into the potential of using methods from optimal control to minimize this tradeoff. First, a useful simplification is made to the exact cornering problem to make it tractable. Dynamic programming is then used to determine the best free-form curve that minimizes corner traversal time while adhering to path tolerance and machine kinematic constraints. Significant improvements in cornering time are demonstrated compared to two methods that use pre-specified curves. However, dynamic programming is found to be too computationally costly, thus impractical. Less computationally intensive techniques in optimal control are considered for future work.

Copyright © 2014 by ASME



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