Coordinated contour following control for machining operations-a survey
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paper_title: Passive control of bilateral teleoperated manipulators

paper_content:

The control of a bilateral teleoperated manipulator system is considered. The goals of the control are to (i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, (ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, (iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system.
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Title: Coordinated Contour Following Control for Machining Operations - A Survey

Section 1: Introduction
Description 1: This section introduces the fundamental concepts of contour following in machining operations and the objectives of the paper.

Section 2: Non-coordination based approach
Description 2: This section reviews traditional control approaches focusing on improving trajectory tracking for each individual machining axis without coordination.

Section 3: Cross-coupled Control Approach
Description 3: This section examines approaches that use cross-coupled or synchronizing control strategies to utilize contour error in the feedback structure.

Section 4: Velocity Field Control Approach
Description 4: This section reviews the velocity field control approach that abandons timed trajectory requirements and instead uses a time-invariant velocity field for contour following.

Section 5: Conclusions
Description 5: This section summarizes the various approaches to contour following control, their benefits, and limitations.