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Integrated Trajectory Planning, System Modeling, and Control Design for Optimized Motor Selection

[+] Author Affiliations
Aderiano da Silva, Philip A. Voglewede, Kevin C. Craig

Marquette University, Milwaukee, WI

Paper No. DSCC2012-MOVIC2012-8775, pp. 103-112; 10 pages
doi:10.1115/DSCC2012-MOVIC2012-8775
From:
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4530-1
  • Copyright © 2012 by ASME

abstract

In addition to a well-designed and tuned control system and a properly designed mechanical system, accurate motion control in industrial machines heavily depends on trajectory planning and the appropriate selection of the motors controlling the axes of the machine. A model-based design approach to properly select a motor prior to building a prototype is proposed in this paper. Additionally, a trajectory planning approach is proposed and demonstrated to improve position control accuracy of industrial machines. The proposed motor selection process and trajectory planning approach are demonstrated via modeling and simulation of a commonly used planar robot (H-Bot).

Copyright © 2012 by ASME

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