By Topic

An efficient processor-based online generation of time-optimal trajectories

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
I. M. S. Panahi ; Dept. of Electr. Eng., Texas Univ., Richardson, TX, USA ; H. A. Toliyat

We present a novel method to online generation of time-optimal acceleration, velocity, and position trajectory values for servo-control systems using low-cost fixed-point processors with no on-chip multipliers. As in the case of many product designs, reducing system cost is a key constraint in our method. We address this constraint by optimizing required memory size, computational time, and introducing multiplication-free recursive algorithms most suitable for real-time implementation on low-cost microcontrollers. An efficient search algorithm is presented optimizing the trajectories with respect to total move time for any distance subject to physical constraints of the system. We also introduce a normalized set of first-order difference equations using only integer arithmetic and additions to compute the trajectory values. Complexity of the proposed method is compared with multiplication-based and lookup table methods using three popular microcontrollers with and without an on-chip hardware multiplier

Published in:

IEEE Transactions on Control Systems Technology  (Volume:14 ,  Issue: 5 )