Some consideration regarding motion control and planning

  • Traian Munteanu “Dunarea de Jos” University of Galati
  • Cristian Vasilache “Dunarea de Jos” University of Galati
  • Ion Bivol “Dunarea de Jos” University of Galati
  • Emil Roșu “Dunarea de Jos” University of Galati
Keywords: Optimal path planning, Trajectory optimisation, Fixed arrival time, Feed-forward control, PM synchronous motor drive

Abstract

This paper presents a method to find energy-efficient motion path planning avoiding obstacles and obeying constraints. To allow for real-time computation, like human strategy, a path is not completely planned before motion. A motion planning module establish the intermediate positions and velocities points of moving object between starting and goal position. A new segment of total path is computed at each time step between each intermediate points, over a limited horizon. The control signals for torque, speed and position calculated between two states of a planar mechanism are applied in a feed-forward manner to motors drive controllers. There are several experimental results, which confirm the specified performances of the motion control system.

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Published
2004-10-12
How to Cite
1.
Munteanu T, Vasilache C, Bivol I, Roșu E. Some consideration regarding motion control and planning. The Annals of “Dunarea de Jos“ University of Galati. Fascicle III, Electrotechnics, Electronics, Automatic Control, Informatics [Internet]. 12Oct.2004 [cited 26Dec.2024];27:92-7. Available from: https://gup.ugal.ro/ugaljournals/index.php/eeaci/article/view/730
Section
Articles

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