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: | 1-七月-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 |
顯示於類別: | 期刊論文 |