Motion Profile Control Algorithm and Corner Smoothing Technique for Trajectory Optimization of High-Precision Processing

2018 ◽  
Author(s):  
Kseniia V. Zimenko ◽  
Maxim Ya. Afanasev ◽  
Anastasiya A. Krylova ◽  
Sergey A. Shorokhov ◽  
Yuri V. Fedosov
Keyword(s):  
High Precision ◽  
Trajectory Optimization ◽  
Control Algorithm ◽  
Smoothing Technique ◽  
Profile Control ◽  
Motion Profile

The Study of Control Strategy for Sensor-Less PMSM

2014 ◽  
Vol 1006-1007 ◽  
pp. 575-580
Author(s):  
Qing Xie Chen ◽  
Jing Jing Chen ◽  
Yi Biao Fan
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
High Precision ◽  
Control Strategy ◽  
Control Algorithm ◽  
Simulation Experiment ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Single Chip

Targeting development of control system of a permanent magnet synchronous motor applied to high precision requirement, A strategy is researched to develop a single chip with built-in sensor-less control algorithm which is used as the control core of PMSM control system, the composition of the hardware and the realization of software of the chip are designed, and the simulation experiment is carried out to verify feasibility and rationality of the control strategy as well.

Fourth Order Motion Profile Planning for High Precision Applications

Robotics ◽  
2010 ◽  
Author(s):  
A. Amthor ◽  
A. Lorenz ◽  
S. Zschaeck ◽  
C. Ament
Keyword(s):  
High Precision ◽  
Fourth Order ◽  
Motion Profile

A Priori Motion Profile Control and Dynamic Performance of the Multi-Axis Ride Simulator (MARS) Facility

2007 ◽  
Author(s):  
Valeta Carol Chancey ◽  
Bradley A. Bumgardner ◽  
David D. Turner ◽  
Arlene M. Breaux-Sims ◽  
George T. Flowers ◽  
...  
Keyword(s):  
Dynamic Performance ◽  
A Priori ◽  
Experimental Tests ◽  
Performance Limits ◽  
Actuation System ◽  
Testing Facility ◽  
Profile Control ◽  
Vehicle Motion ◽  
And Performance ◽  
Motion Profile

The Multi-Axis Ride Simulator (MARS) facility is a versatile testing facility for the evaluation of vehicle motion effects on personnel and devices. It consists of a 6-DOF Stewart platform driven by a computer-controlled actuation system. An off-line strategy is used to correct the amplifier input and drive the table dynamic response to the desired trajectory. The capabilities and performance limits of the facility are described in detail. The off-line control strategy is also described and its performance evaluated with a series of experimental tests. The results are presented and discussed in detail.

High-Precision Positioning and Speed Smooth Transition Control Algorithm for Terminal Point of Micro-Line Segment

2011 ◽  
Vol 305 ◽  
pp. 19-24
Author(s):  
Zhui Liang Huang ◽  
Shu Wen Lin ◽  
Dao Ying Jiang
Keyword(s):  
Motion Control ◽  
High Precision ◽  
Line Segment ◽  
Control Algorithm ◽  
Smooth Transition ◽  
Terminal Point ◽  
Precision Positioning ◽  
Line Segments ◽  
Transition Control ◽  
Joint Point

In allusion to the problem of data sampling interpolation error which exists in continuous micro-line segments interpolation algorithm with acceleration /deceleration control, this paper proposes a high-precision positioning and speed smooth transition control algorithm for terminal point of micro-line segment. The linear acceleration/deceleration mode was taken as an example to derive a motion control algorithm, which can eliminate the rounding error of the interpolation with fine adjusting the reserved parameters of acceleration /deceleration process when micro-line segment starting point and terminal point velocity are not zero. Simulation analysis and experiments of motion control shows that the algorithm greatly improves the control accuracy of the joint point position of micro-line segments, achieves the continuous smooth transition at the feed speed of the joint point of adjacent line segments and the uniformity of the velocity in specific line segment.

scholarly journals Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Actuators ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 80
Author(s):  
Shengqiao Hu ◽  
Huimin Kang ◽  
Hao Tang ◽  
Zhengjie Cui ◽  
Zhicheng Liu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Trajectory Optimization ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Sudden Change ◽  
Parallel Robot ◽  
Joint Space ◽  
Allowable Limit ◽  
Three Phase ◽  
Motion Profile

To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jerk motion profile. The 12-phase sine jerk motion profile utilizes the characteristics of a sine function. Furthermore, the penalty function is used to optimize the trajectory energy consumption under the constraint condition. The simulation and experimental results show that the energy consumption of joint space is slightly higher than that of the three-phase sine jerk motion profile, but the overall operation is more accurate and stable. Specifically, the sudden change of force and velocity in each joint is eliminated, which is the cause of mechanism oscillation. Moreover, the force of each joint is more average. The results indicate that each movement is closer to the maximum allowable limit and the running efficiency is higher.

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