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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ming-Shyan Huang Yi-Lung Hsu Rong-Fong Fung |
| Copyright Year | 2011 |
| Description | Author affiliation: Department of Mechanical and Automation Engineering National Kaohsiung First University of Science and Technology, Taiwan 824, Taiwan (Ming-Shyan Huang; Yi-Lung Hsu; Rong-Fong Fung) |
| Abstract | In this paper, we propose a novel minimum-energy point-to-point (PTP) trajectory planning method for a simple mechatronic system, which is a one-dimensional precision positioning table driven by a permanent magnet synchronous motor (PMSM). To generate the mechatronic trajectory we develop a real-coded genetic algorithm (RGA) to search for the optimal trajectory for the PTP motion. In this method, we design a high-degree polynomial to compute minimum-energy point-to-point trajectories, and consider the problem of initial and final constraints (position, velocity, acceleration and jerk) in the algorithm. The RGA determines the parameters, which are to formulate the polynomial, and satisfy the desired fitness function of the minimum input energy. The algorithm is tested in numerical simulations results and yields good results for the comparisons between the seven-degree to twelve-degree polynomial during motion operations. |
| Starting Page | 647 |
| Ending Page | 652 |
| File Size | 598530 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781612844879 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-05-15 |
| Publisher Place | Taiwan |
| Access Restriction | Subscribed |
| Rights Holder | Asian Control Association |
| Subject Keyword | Mechatronics electric mechanical equations minimum energy point-to-point Polynomials Trajectory Planning precision positioning table RGA Robots Genetic algorithms |
| Content Type | Text |
| Resource Type | Article |
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