Creating time-optimal commands for systems with denominator dynamics

Many high-performance applications demand that machines execute rapid and precise point-to-point motions. In order to achieve these motions, time-optimal command profiles can typically be employed. This work presents a strategy for deriving time-optimal commands that takes into account all possible types of system denominator dynamics. Unlike other approaches, the method presented here can account for real modes as well as rigid-body and flexible modes. Since this is a more general strategy for deriving time-optimal commands, results illustrate that this technique always meets or exceeds the performance of existing methods