Integrated Trajectory Planning, System Modeling, and Control Design for Optimized Motor Selection

Abstract

In addition to a well-designed and tuned control system and a properly designed mechanical system, accurate motion control in industrial machines heavily depends on trajectory planning and the appropriate selection of the motors controlling the axes of the machine. A model-based design approach to properly select a motor prior to building a prototype is proposed in this paper. Additionally, a trajectory planning approach is proposed and demonstrated to improve position control accuracy of industrial machines. The proposed motor selection process and trajectory planning approach are demonstrated via modeling and simulation of a commonly used planar robot (H-Bot).Copyright © 2012 by ASME