Reference Input Generation for High Speed Coordinated Motion of a Two Axis System

[+] Author and Article Information
J. Butler, B. Haack, M. Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, Calif. 94720

J. Dyn. Sys., Meas., Control 113(1), 67-74 (Mar 01, 1991) (8 pages) doi:10.1115/1.2896361 History: Received March 20, 1988; Revised October 24, 1989; Online March 17, 2008


A method for generating two-dimensional reference trajectories to be followed by a linear second-order system under feedforward/feedback control is proposed. A differential equation is derived which assigns tracking velocity and tangential tracking acceleration as functions of time in such a way to allow high speed motion through an arbitrary smooth curve while guaranteeing the absence of actuator saturation. A method for using preview information for motion along curves with corners is also presented. The results are verified by simulation of a two axis cartesian positioning system under discrete time zero phase error tracking control.

Copyright © 1991 by The American Society of Mechanical Engineers
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