Trajectory Planning and Feedforward Design for High Performance Motion Systems

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

21 Citations (Scopus)
3 Downloads (Pure)

Abstract

This paper gives an algorithm for fourth ordertrajectory planning with constrained dynamics for singleaxis motion control. A model-based feedforward controller isderived that makes full use of these trajectories. Applicationto industrial high-precision electromechanical motion systemsis motivated. Issues like time-optimality, implementation anddigitization are considered. Simulation results show superioreffectiveness in comparison with rigid-body feedforward.
Original languageEnglish
Title of host publicationProceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts. Vol. 5.
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages4637-4642
ISBN (Print)0-7803-8335-4
Publication statusPublished - 2004

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