The paper presents a trajectory generator for point-to-point movements in the field of motion control systems. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory.
Nonlinear trajectory generator for motion control systems / Lo Bianco Corrado, Guarino; Tonielli, Alberto; Zanasi, Roberto. - 1:(1996), pp. 195-201. (Intervento presentato al convegno Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) tenutosi a Taipei, Taiwan, nel 1996).
Nonlinear trajectory generator for motion control systems
Tonielli Alberto;Zanasi Roberto
1996
Abstract
The paper presents a trajectory generator for point-to-point movements in the field of motion control systems. A nonlinear dynamic trajectory generator is proposed. It is a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory.
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