Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk.
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.
Department of Mechanical Engineering, National Chiao-Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan 30010, Republic of China.
Chung-Shu
CS
Liao
Shyr-Long
SL
Jeng
Wei-Hua
WH
Chieng