An Efficient Algorithm for the Real-Time Generation of Synchronous Reference Signals

Abstract

Discontinuous reference signals reduce the performances of feedback control systems. This paper proposes an algorithm which generates smooth and synchronous set-points for electromechanical systems, starting from rough input signals. This result is achieved by filtering the discontinuous signals through a set of nonlinear filters whose output is given by smooth profiles subject to velocity and acceleration constraints. The reference synchronization is obtained by acting on the velocity bounds and can be customized to accomplish alternative tasks. In this work, for example, it is used to reduce friction power losses which affect electromechanical systems. The proposed algorithm is extremely compact and efficient, so that it can be implemented on control boards having limited memory and limited computational capabilities.

Trajectory Generation Method for Serial Robots in Hybrid Space Operations

“…In joint space, dynamic responsiveness denotes the robot system's rapid adaptability to external disturbances or changes, a critical factor in ensuring the stability and accuracy of the robot in real-time operations [6,7]. Synchronization involves the coordinated movement among the various joints of the robot, ensuring their collaborative action during task execution and avoiding discrepancies or asynchronies in the motion process [8]. By comprehensively addressing the requirements of joint space and task space, the robot motion control systems can better adapt to diverse and dynamic work environments, achieving high-precision and efficient task execution.…”