C.Guarino Lo Bianco, A. Tonielli, R. Zanasi
IEEE Int. Conf. on Ind. Electr. Contr. and Instr., IECON'96, Taipei, Taiwan. Aug. 5-9, 1996, Vol.1, p.195-201.
The paper presents a trajectory generator for point-to-point movements in the field of motion control systems. A nonlinear dynamic trajectory generator is proposed. It is given by a closed loop system which provides the best trajectory compatible with the user selectable constraints on motion state variables (velocity, acceleration, etc.). Constraints on state variables can be fixed or task dependent. They can be changed during system operation without impairing filter stability or introducing overshoot in the trajectory.