High Performance Motion Control Command Generator and Its Application in a 3-link Plane Manipulator

A Twin-Sine command generator is proposed, which mainly caters for high performance motion control applications. Both precalculation and real-time control set-point generator are investigated. This command generator has up to 3rd order continuity in derivative of distance command, constant speed motion is allowable and it has very low computational cost. For the application-wise, we simply test on one of the classical problems, which is a 3-link planary Manipulator and the result is positive.