Trajectory planning and feedforward design for electromechanical motion systems

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.