Trajectory planning and feedforward design for electromechanical motion systems

P.F. Lambrechts, M.L.G. Boerlage, M. Steinbuch

Research output: Contribution to journalArticleAcademicpeer-review

206 Citations (Scopus)
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Abstract

This paper considers trajectory planning with given design constraints and designof a feedforward controller for single axis motion control. A motivation is given forusing fourth order feedforward with fourth order trajectories. An algorithm is givenfor calculating higher order trajectories with bounds on all considered derivativesfor point-to-point moves. It is shown that these trajectories are time-optimal inthe most relevant cases. All required equations for fourth order trajectory planningare derived. Implementation, discretization and quantization effects are considered.Simulations and hardware-in-the-loop experiments show superior effectiveness offourth order feedforward in comparison with lower order feedforward.
Original languageEnglish
Pages (from-to)145-157
JournalControl Engineering Practice
Volume13
Issue number2
DOIs
Publication statusPublished - 2005

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