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This paper presents and evaluates a novel on-line optimal trajectories generator algorithm for high performance industrial servodrives. In order to completely avoid current saturation, the optimal trajectories are calculated considering the maximum speed and current constrains, the inertial torque component and the load torque estimated by a disturbance observer. Using this information, optimum acceleration...
In this paper, a feedforward filter is proposed for piecewise step references, which produces time-optimal trajectories under constraints on acceleration. Step response is usually used as the performance index of controlled systems. Thus, the ideal system would be one that has an output which approaches to the step signal quickly without error or overshoot. However, if the output of an actual plant...
In this paper, we focus on improving performance and robustness in precision motion control (PMC) of multi-axis systems through the use of time-varying weighting matrices. A Norm Optimal (N.O.) framework is used to design optimal learning filters based on design objectives. The general N.O. framework is reformatted to include time-varying weighting matrices which enable the controller to take the...
This paper is a response to requests from several respected colleagues in academia for a careful writeup of the classical time-optimal control based hybrid controllers that we have been using for material transport control in our modular reconfigurable manufacturing systems application. Specifically, we show how classical closed form time optimal control, which exploits the special structure of double...
Service robots which directly interact with humans in highly unstructured, unpredictable and dynamic environments must be able to flexibly adapt their motion in reaction to unforeseen events or obstacles and they must provide a new feasible trajectory in real-time. Hence, algorithms come into focus which replan the motion path and its time evolution from arbitrary initial conditions within milliseconds...
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