Creating time-optimal commands for systems with denominatordynamics

摘要

Many high-performance applications demand that machines executerapid and precise point-to-point motions. In order to achieve thesemotions, time-optimal command profiles can typically be employed. Thiswork presents a strategy for deriving time-optimal commands that takesinto account all possible types of system denominator dynamics. Unlikeother approaches, the method presented here can account for real modesas well as rigid-body and flexible modes. Since this is a more generalstrategy for deriving time-optimal commands, results illustrate thatthis technique always meets or exceeds the performance of existingmethods