A stepping motor control algorithm for smooth continuous path motion

Many modern manipulator applications require precise and smooth continuous path motion. Efforts to reduce the jerkiness of motion are focused on optimisation of the mechanical setup of the manipulator and the motion control module. This paper analyses a conventional motion control system for stepping motors and establishes its impact on the mechanical manipulator system. Based on this analysis a novel variable pulse control method with look back/ahead feature is proposed and implemented. Due to the absence of suitable hardware, the generated pulse timings are examined with the help of a specially developed analysis tool. The results of the variable pulse algorithm are compared with the f/t profiles of a conventional system. The results show a significant improvement in the smoothness of continuous path motion for stepping motor driven manipulators.