Robust and efficient motion planning for a planar robot using hybrid control

An existing hybrid control strategy is extended and applied to the control of a novel courier robot based on planar (Sawyer) motor technology augmented with integral sensing. The controller is designed to accommodate actuator limits and the desired motion characteristics, eliminating the need for careful matching of trajectory parameters with controller gains. Controller extensions allow for the unusual actuator constraints of the planar motors and independent adjustment of the parameters for each axis. Simulation results are presented for several cases to demonstrate the diversity of situations within the capability of the controller.