Receding horizon based trajectory planning for biaxial systems

An intuitive approach for trajectory planning of biaxial path following systems is presented. This method is inspired by receding horizon based control. Hence, it is possible to plan trajectories which respect physical constraints like the voltages and currents of the driving electrical motors. The proposed method can also respect constraints on the contour error which is advantageous to meet for instance manufacturing tolerances in industrial systems. The used cost functional comprises the contour error and the path velocity. Therefore, the resulting trajectories represent a tradeoff between contouring accuracy and velocity. Experimental results show the effectiveness of receding horizon based trajectory planning, especially for fast sampling control systems like in micro- and nano-mechatronics.