Control of the mechatronic systems using an integer arithmetics

Plotters are simple mechatronic systems with two degrees of freedom in the XY plane. Not only the pen plotters, but also cutting plotters, die-cut machines, welding machines or 3D printers use the same basic architecture. We consider planar plotter as a device with finite set of discrete achievable points. In our paper we present a control algorithm based on an integer arithmetics only. This not only speeds-up the calculations, but also avoids a rounding error and its accumulation. Comparing to the drawing interpolation methods already known for systems without additional dynamics, e.g. computer monitors, we consider also the inertia of the moving parts. Dynamics of the system is part of the control algorithm. Moreover, we present the optimal control of both axes with stepper motors in open loop system with respect to the technological limitations.