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 language | English |
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| Title of host publication | Proceedings of the 2004 American control conference, ACC : June 30 - July 2, 2004, Boston, Massachusetts. Vol. 5. |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 4637-4642 |
| ISBN (Print) | 0-7803-8335-4 |
| Publication status | Published - 2004 |