AC induction motor-vector control. Cubic motion generator dispenses glue in smooth, continuous flow over irregular shapes

Using cubic smoothing, a precision motion-control system follows the irregular outside shape of a CRT to produce quickly a smooth, continuous flow of glue around its periphery. In contrast, the cubic smoothing system defines the path with fewer points and greater accuracy, and most important, without acceleration jerks at the point boundaries. The author presents equations for an on-line parametric curve generator using a third-order polynomial in time. It is shown that simplified cubic equations can be used to generate a complex path smoothly by using less than 200 points to describe a complete profile