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printer_controller_trajectory_planning [2016/08/04 21:59] Traumflug [Second Order Trajectory Planning] |
printer_controller_trajectory_planning [2016/08/04 22:08] Traumflug [Second Order Trajectory Planning] |
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To the left is a "generator", which outputs 1, 0 or -1. This "signal" is stuffed into the first integrator at discrete time steps, e.g. every 2 milliseconds. The output of that integrator is the integral of the original signal, which happens to be jerk. | To the left is a "generator", which outputs 1, 0 or -1. This "signal" is stuffed into the first integrator at discrete time steps, e.g. every 2 milliseconds. The output of that integrator is the integral of the original signal, which happens to be jerk. | ||

- | This jerk signal (now any value in the range {-1, 1}) is put into another integrator, which integrates up again.This gives acceleration. Yet another integrator in the chain gives velocity. The last integrator gives position, and that integrator happens to be not some mathematical formula, but our stepper motor. | + | This jerk signal (now any value) is put into another integrator, which integrates up again.This gives acceleration. Yet another integrator in the chain gives velocity. The last integrator gives position, and that integrator happens to be not some mathematical formula, but our stepper motor. |

The non-trivial part here is to calculate the original signal. There's a matlab script at the end of the paper to calculate the signal in multiples of an adjustable time step. This script even takes error correction into account. But that's not my point here. | The non-trivial part here is to calculate the original signal. There's a matlab script at the end of the paper to calculate the signal in multiples of an adjustable time step. This script even takes error correction into account. But that's not my point here. |

printer_controller_trajectory_planning.txt ยท Last modified: 2018/05/27 16:10 (external edit)