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Publications (8)
The delta robot can reach higher speeds than traditional serial-axis machines used in fused filament fabrication 3D printing. However, like serial machines, delta printers suffer from undesirable vibration at high speeds which degrades the quality of fabricated parts. This undesirable vibration has been suppressed in serial printers using linear mo...
![FIGURE 1. Overall framework of the linear hybrid model G h [31].](publication/368587040/figure/fig1/AS:11431281120833282@1676645525148/Overall-framework-of-the-linear-hybrid-model-G-h-31_Q320.jpg)
![FIGURE 2. Detailed mechanism of the data-driven portion of G h [31].](publication/368587040/figure/fig2/AS:11431281120807266@1676645525185/Detailed-mechanism-of-the-data-driven-portion-of-G-h-31_Q320.jpg)
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The proposed controller is based on the filtered basis functions (FBF) approach, and hence called a hybrid FBF controller. It formulates the feedforward control input to a system as a linear combination of...
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from undesirable vibration at high speeds which degrades the quality of fabricated parts. This undesirable vibration...
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from undesirable vibration at high speeds which degrades the quality of fabricated parts. This undesirable vibration...
Inspired by sequential additive manufacturing operations, we consider prediction tasks arising in processes that comprise of sequential sub-operations and propose a multi-stage inference procedure that exploits prior knowledge of the operational sequence. Our approach decomposes a data-driven model into several easier problems each corresponding to...
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a hybrid FBF controller. It formulates the feedforward control input to a system as a linear combination of a set o...
Servo error pre-compensation (SEP) is commonly used to improve the accuracy of feed drives. Existing SEP approaches often involve the use of physics-based linear models (e.g., transfer functions) to predict servo errors, but suffer from inaccuracies due to unmodeled nonlinear dynamics in feed drives. This paper proposes a linear hybrid model for SE...
