DocumentCode
3403286
Title
Online Smooth Trajectory Generation for Industrial Mechatronic Systems
Author
Zheng, Chunhong ; Su, Yuxing ; Müller, Peter C.
Author_Institution
Xidian Univ., Xian
fYear
2007
fDate
5-8 Aug. 2007
Firstpage
861
Lastpage
866
Abstract
Online smooth trajectory generation for industrial mechatronic system is addressed in this paper. Two modified nonlinear tracking differentiators are proposed to generate the smooth trajectory from a rough reference (step and ramp, etc.), with bounded velocity and acceleration. Computer simulations performed on a mechanical system affected by nonlinear dynamic friction demonstrate the effectiveness and the improved performance of the proposed approaches.
Keywords
acceleration; friction; industrial robots; mechatronics; nonlinear dynamical systems; acceleration; bounded velocity; industrial mechatronic systems; mechanical system; nonlinear dynamic friction; nonlinear tracking differentiators; online smooth trajectory generation; rough reference; Acceleration; Electrical equipment industry; Electronics industry; Friction; Industrial control; Mechanical systems; Mechatronics; Motion control; Polynomials; Trajectory; Mechatronic system; motion planning; smooth trajectory; tracking filters;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4244-0828-3
Electronic_ISBN
978-1-4244-0828-3
Type
conf
DOI
10.1109/ICMA.2007.4303658
Filename
4303658
Link To Document