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.
|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|
|Publication status||Published - 2004|