標題: Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk
作者: Liao, CS
Jeng, SL
Chieng, WH
機械工程學系
Department of Mechanical Engineering
關鍵字: electronic cam;tracking control;trajectory generation;trajectory optimization;master-slaves
公開日期: 1-Jul-2004
摘要: Electronic cam motion involves velocity tracking control of the master motor and trajectory generation of the slave motor. Special concerns such as the limits of the velocity, acceleration, and jerk are beyond the considerations in the conventional electronic cam motion control. This study proposes the curve-fitting of a Lagrange polynomial to the cam profile, based on trajectory optimization by cubic B-spline interpolation. The proposed algorithms may yield a higher tracking precision than the conventional master-slaves control method does, providing an optimization problem is concerned. The optimization problem contains three dynamic constraints including velocity, acceleration, and jerk of the motor system. (C) 2004 ISA-The Instrumentation, Systems, and Automation Society.
URI: http://hdl.handle.net/11536/26593
ISSN: 0019-0578
期刊: ISA TRANSACTIONS
Volume: 43
Issue: 3
起始頁: 427
結束頁: 443
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