Experimental validation of a trajectory planning method with continuous acceleration implemented on a DSP-based motion controller

A trajectory planning method in joint space which provides a continuity of position, velocity and acceleration just with simple numerical simulations was already presented by us before. This paper, therefore, presents techniques in detail for implementation of it. To guarantee high performance, a novel DSP-based multiaxis motion controller is developed for executing the trajectory planning method on-line. Hardware design and software design of the motion controller is described. Finally, the proposed trajectory planning method is tested based on the proposed motion controller for an arc welding robot. Experimental results and performances evaluation are also presented in this paper.