Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk

Chung Shu Liao*, Shyr Long Jeng, Wei-Hua Chieng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

Electronic cam motion involves velocity tracking control of the master motor and trajectory generation of the slave motor. Special concerns such as the limits of the velocity, acceleration, and jerk are beyond the considerations in the conventional electronic cam motion control. This study proposes the curve-fitting of a Lagrange polynomial to the cam profile, based on trajectory optimization by cubic B-spline interpolation. The proposed algorithms may yield a higher tracking precision than the conventional master-slaves control method does, providing an optimization problem is concerned. The optimization problem contains three dynamic constraints including velocity, acceleration, and jerk of the motor system.

Original languageEnglish
Pages (from-to)427-443
Number of pages17
JournalISA Transactions
Volume43
Issue number3
DOIs
StatePublished - 1 Jan 2004

Keywords

  • Electronic cam
  • Master-slaves
  • Tracking control
  • Trajectory generation
  • Trajectory optimization

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