Trajectory planning and feedforward design for electromechanical motion systems

This report considers trajectory planning with given design constraints and design of an appropriate feedforward controller for single axis motion control. A motivation is given for using fourth order feedfonvard with fourth order trajectories. An algorithm is given for calculating hqjher order trajectories with bounds on all considered derivatives for point to point moves. It is shown that these trajectories are time-optimal in the most relevant cases. All required eqmtions for third and fourth order trajectory planning are explicitly derived. Implementation, discretization and quantization effects are considered. Simulation results show the effectiveness of fourth order feedfonvard in comparison with lower order feedforward.