A contour error definition, estimation approach and control structure for six-dimensional robotic machining tasks

A contour error definition, estimation approach and control structure for the 6D robotic machining tasks are proposed.The definition of robotic contour error in the 6D machining is intuitive, and provides the prerequisite for the estimation and control of the robotic contour error.The contour error estimation approach is locally iterative, and depends only on the reference pose information and has high accuracy and high efficiency.The contouring control structure is designed by compensating the contour error components to the velocity commands in the robotic task space, which is simple and effective.