Advanced Control of Five-Axes Hybrid Serial-Parallel Kinematics Machine

Abstract

This project focuses on the development of control techniques for a five-axis hybrid serial-parallel kinematics CNC machine tool. The primary objective is to implement control algorithms utilizing a PC-based open architecture controller to efficiently and accurately regulate the machine's operations. This involved multifaceted approaches encompassing real-time interfacing with the controller, trajectory planning for precise contouring, and dynamic simulation (using SimScape) to emulate the machine's behavior under varying conditions. As the machine is coupled and nonlinear, the dynamic simulation was used to find optimal gains using a genetic algorithm after friction modeling, then they were implemented on the machine. A remarkable increase in accuracy was observed, demonstrating the effectiveness of this approach. Additionally, the project involves data acquisition and signal processing methodologies to monitor and analyze the machine's performance parameters.

Date of Award	26 Jun 2024
Original language	American English
Supervisor	Bashar El Khasawneh (Supervisor)