Five-Axis Contour Error Control Based on Spatial Iterative Learning

In this paper, a contour error control strategy based on spatial iterative learning control (sILC) is developed for repetitive processing of five-axis computer numerical control (CNC) machine tools. A curve approximation method with an adaptive moving window is developed to achieve accurate tool position and orientation contour error estimation, and a five-axis contour error control strategy based on sILC is proposed. The compensation method is derived using an sILC algorithm to modify the geometric reference path instead of modifying the controller. The experimental results show that the proposed control strategy reduces contour errors of five-axis CNC machine tools, and it outperforms the traditional tracking error control. Note to Practitioners—This paper aims to propose an effective five-axis contour error control scheme. At present, most of the five-axis contour error control methods rely on the modification of the controller, which is not allowed in commercial CNC systems. Therefore, we propose a five-axis contour error compensation algorithm based on sILC, which modifies the system’s reference path. Experimental results show that the proposed method can reduce the five-axis contour errors, while maintaining the machining efficiency.