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
fDate :
June 30 2004-July 2 2004
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;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
