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

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

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:

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

Date of Publication:

Sept. 2006

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