Title :
High Order Smooth Motion Command Generation for FFC-Digital Controller
Author :
Zhao, Zhengyi John ; Wang, GuangNeng
Author_Institution :
Electr. & Comput. Eng. Dept., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
We studied the general motion command generation which is applied in any digital controller with FFC (Feed Forward Compensation) structure. The problem is studied under the nominal scenario and one special scenario. Some fundamental results are proposed to relate the symmetry of acceleration and mean velocity (SAM). For the one special scenario, some experiments are carried out for verification.
Keywords :
digital control; feedforward; motion control; FFC digital controller; feed forward compensation; general motion command generation; high order smooth motion command generation; Acceleration; Mechanical systems; Mechatronics; Planning; Polynomials; Robots; Trajectory; Digital FFC Controller; Precision Motion Command Generation; Trajectory Planning;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.366
