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AN2350 датащи(PDF) 29 Page - STMicroelectronics

номер детали AN2350
подробное описание детали  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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производитель  STMICROELECTRONICS [STMicroelectronics]
домашняя страница  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 датащи(HTML) 29 Page - STMicroelectronics

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Control algorithm
AN2350
29/41
Now follows the algorithm used for the motion planning in order to build a trajectory table
whose points (as joint variables after the reversal kinematics and expressed as incremental
encoder pulses) are given as inputs to the PID control interrupt service routine every TR ,
(fixed in 20 ms).
Let
the coordinates of the start point and
the coordinates of the stop
point, vc the cruising speed and a the acceleration. From the previous equations it is
possible to obtain the time t1 and the time t3 , where:
Consider
as the generic straight-line that intersect the two points
and
, where
is the angular coefficient and
is the intersection with the Y axis.
It is possible that the cruising speed it is not compatible with the imposed acceleration and
the distance to cover: this implies that the velocity profile is not trapezoidal. For this reason a
convergent loop procedure has been developed (shown in the following scheme) that
redefines the values of t1 , vc , and t3 .
)
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