DocumentCode
424984
Title
Trajectory planning and feedforward design for high performance motion systems
Author
Lambrechts, Paul ; Boerlage, Matthijs ; Steinbuch, Maarten
Author_Institution
Fac. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
Volume
5
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
4637
Abstract
This paper gives an algorithm for fourth order trajectory planning with constrained dynamics for single axis motion control. A model-based feedforward controller is derived that makes full use of these trajectories. Application to industrial high-precision electromechanical motion systems is motivated. Issues like time-optimality, implementation and digitization are considered. Simulation results show superior effectiveness in comparison with rigid-body feedforward.
Keywords
control system synthesis; feedforward; industrial control; motion control; path planning; position control; fourth order trajectory planning; high-precision electromechanical motion systems; industrial electromechanical motion systems; model-based feedforward controller; rigid-body feedforward; single axis motion control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384042
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