کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
698421 890407 2008 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Simplified time-optimal path planning of XX-YY gantry systems along circular paths
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Simplified time-optimal path planning of XX-YY gantry systems along circular paths
چکیده انگلیسی

In this paper, we consider time-optimal path planning for XX-YY gantry systems along circular paths, in which acceleration and jerk limitations of each actuator are taken into full account. The physical limitations are expressed as highly nonlinear state/input constraints, and are mathematically very difficult to handle effectively. In this context, we formulate the time-optimal problem under reasonably simplified constraints and derive its solution in feedback form. Numerical examples demonstrate that the proposed time-optimal circular path planning method decreases the traverse time significantly compared to the well-known s-curve method.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 44, Issue 1, January 2008, Pages 149–156
نویسندگان
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