Discrete Calculation of Set Points in Mechanism Motion Control

Abstract

Set points calculation of the mechanism described in the paper are based on a formal method in which the target points of the sequences of motions, the profile functions between the target points and the time of execution between the target points are determined off-line. The internal task of the calculation is to produce the set points between the target points of the motional sequences in either on-line or off-line calculation. Sudden recoil movements at great mass loads result in injurious vibration in the actuators to be controlled. To prevent such vibrations a profile function has been derived which provides a smooth path. The continuous polynomial function was formed of an n-th degree polynomial in which the degree of the polynomial together with the time of execution determines the maximum acceleration of the movement.