Trajectory planning and feedforward design for high performance motion systems

Lambrechts, PF Paul; Boerlage, Mlg Matthijs; Steinbuch, M Maarten

doi:10.23919/acc.2004.1384042

Cited by 20 publications

(20 citation statements)

References 14 publications

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“…A deeper analysis of the algorithm has not been performed because the characteristics of the method of Li et al [14] appear to be those of a cubic jerk algorithm. A natural extension of the described third-order trajectory planning algorithms was proposed by Lambrechts et al [8,15]. They were the first to present a fourth-order motion planning algorithm, utilizing the idea of Olomski to determine all kinematic profiles.…”

Section: State Of the Art In Planning Kinematics At The Path Levelmentioning

confidence: 99%

“…Also, time-optimal trajectory planning is possible using this approach. Thus, Lambrechts et al [8,15] merge the advantages of the constant jerk and cubic jerk methods.…”

Section: State Of the Art In Planning Kinematics At The Path Levelmentioning

confidence: 99%

“…Due to the extraordinary requirements of nanopositioning systems the approach of Lambrechts et al [8,15] is extended once again and a novel trajectory planning algorithm is presented. The main feature of the proposed algorithm is the ability to plan motions with random initial and final velocities.…”

Section: Asymmetric Fourth-order Trajectory Planning At the Path Levelmentioning

confidence: 99%

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Asymmetric motion profile planning for nanopositioning and nanomeasuring machines

Amthor

Werner

Lorenz

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents an analytic fourth-order trajectory planning algorithm, which is able to plan asymmetric motions with arbitrary initial and final velocities. Furthermore, the proposed algorithm is based on a set of quadratic derivates of jerk (djerk) functions and generates continuously differentiable trajectories in jerk, acceleration, velocity, and position under consideration of kinematic constraints in all these kinematical values. The trajectories planned by the algorithm also have time-optimal characteristics, and a synchronization between the three motion axes of the Cartesian coordinate system is ensured by the proposed method. These characteristics make it ideally suited for use as a trajectory planning algorithm in high-precision applications such as nanopositioning and nanomeasuring machines.

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Section: State Of the Art In Planning Kinematics At The Path Levelmentioning

confidence: 99%

“…Also, time-optimal trajectory planning is possible using this approach. Thus, Lambrechts et al [8,15] merge the advantages of the constant jerk and cubic jerk methods.…”

Section: State Of the Art In Planning Kinematics At The Path Levelmentioning

confidence: 99%

Section: Asymmetric Fourth-order Trajectory Planning At the Path Levelmentioning

confidence: 99%

See 1 more Smart Citation

Asymmetric motion profile planning for nanopositioning and nanomeasuring machines

Amthor

Werner

Lorenz

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…the fourth order trajectory generator in Lambrechts et al, 2004). First, the acceleration smoother leads to a velocity profile with infinite order of smoothness (i.e.…”

Section: Distinguished Features Of the Acceleration Smoothermentioning

confidence: 99%

“…The typical trajectory smoothing approaches (e.g. S-curve motion profiling) employ a multi order polynomial time equation to compute trajectory output (Lambrechts et al, 2004;Meckl and Seering, 1985) with variable velocity profiles (e.g. second order for trapezoidal and third order for S-curve).…”

Section: Introductionmentioning

confidence: 99%

Industrial robot track modeling and vibration suppression

Tao

Zhang

et al. 2007

Industrial Robot: An International Journal

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Purpose -The purpose of this paper is to investigate the vibration suppression of industrial track robot and propose a practical solution. Design/methodology/approach -Root-cause analysis through dynamic modeling, and vibration suppression using the acceleration smoother. Findings -The vibration is due to insufficient damping based on the model analysis. The solution achieved significant performance improvement without redesign of robot hardware and controller. Research limitations/implications -The design of the proposed acceleration smoother is still empirical based, which is unable to achieve optimal design. Practical implications -This solution is very easy to implement. It is robust, reliable and is able to generate consistent results. Originality/value -A very practical industrial solution, especially useful for upgrading the existing systems in the field without redesign the hardware and controller.

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