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Minimum-Energy Point-to-Point Trajectory Planning for a Motor-Toggle Servomechanism

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3 Author(s)
Ming-Shyan Huang ; Department of Mechanical and Automation Engineering, National Kaohsiung First University of Science and Technology, Kaohsiung, Taiwan ; Yi-Lung Hsu ; Rong-Fong Fung

In this paper, we propose a novel minimum-energy point-to-point (PTP) trajectory planning method for a motor-toggle servomechanism, which is described by the mathematical model of a mechatronic system. To generate the mechatronic trajectory, we employed the real-coded genetic algorithm (RGA) to search for the minimum-energy trajectory for the PTP motion profile, which is described by a polynomial with suitable conditions of position, velocity, and acceleration at the start and end points. The RGA algorithm determines the coefficients of polynomials with the fitness function of minimum-energy input, and is performed in numerical simulations and experiments. The results are compared with those of the S-curve by a traditional proportional-integral control. The proposed methodology can also be applied to any mechatronic system driven by a motor.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:17 ,  Issue: 2 )