DocumentCode
539727
Title
High Order Smooth Motion Command Generation for FFC-Digital Controller
Author
Zhao, Zhengyi John ; Wang, GuangNeng
Author_Institution
Electr. & Comput. Eng. Dept., Nat. Univ. of Singapore, Singapore, Singapore
Volume
2
fYear
2011
fDate
6-7 Jan. 2011
Firstpage
316
Lastpage
319
Abstract
We studied the general motion command generation which is applied in any digital controller with FFC (Feed Forward Compensation) structure. The problem is studied under the nominal scenario and one special scenario. Some fundamental results are proposed to relate the symmetry of acceleration and mean velocity (SAM). For the one special scenario, some experiments are carried out for verification.
Keywords
digital control; feedforward; motion control; FFC digital controller; feed forward compensation; general motion command generation; high order smooth motion command generation; Acceleration; Mechanical systems; Mechatronics; Planning; Polynomials; Robots; Trajectory; Digital FFC Controller; Precision Motion Command Generation; Trajectory Planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location
Shangshai
Print_ISBN
978-1-4244-9010-3
Type
conf
DOI
10.1109/ICMTMA.2011.366
Filename
5721184
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