Program motion planning and control for multicoordinate mechanical system

Abstract

The problem of motion planning for multicoordinate mechanical system based on linear stepping motors was considered. The solution of inverse dynamic problem was used for the receiving of analytical control functions expressed through kinematic parameters of motion program with optimization on different criteria. The cases of program motion with constant speed, motion with constant acceleration and constant speed, and motion optimization by speed were considered, and the combined equations and control functions were obtained. The speed optimization of a program motion with sites of acceleration and constant speed was proposed.