Title :
Online Smooth Trajectory Generation for Industrial Mechatronic Systems
Author :
Zheng, Chunhong ; Su, Yuxing ; Müller, Peter C.
Author_Institution :
Xidian Univ., Xian
Abstract :
Online smooth trajectory generation for industrial mechatronic system is addressed in this paper. Two modified nonlinear tracking differentiators are proposed to generate the smooth trajectory from a rough reference (step and ramp, etc.), with bounded velocity and acceleration. Computer simulations performed on a mechanical system affected by nonlinear dynamic friction demonstrate the effectiveness and the improved performance of the proposed approaches.
Keywords :
acceleration; friction; industrial robots; mechatronics; nonlinear dynamical systems; acceleration; bounded velocity; industrial mechatronic systems; mechanical system; nonlinear dynamic friction; nonlinear tracking differentiators; online smooth trajectory generation; rough reference; Acceleration; Electrical equipment industry; Electronics industry; Friction; Industrial control; Mechanical systems; Mechatronics; Motion control; Polynomials; Trajectory; Mechatronic system; motion planning; smooth trajectory; tracking filters;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303658
