A Novel Approach to the Generation and Implementation of Motion Profile for a Multi Axis Motion Control System
Keywords:
Motion control, Ethernet, Vibration analysis, DSP controllers.Abstract
This article presents a novel motion control method which aims to generate and implement a motion control profile with reduced jerk. To implement an architecture which can deliver jitter free trajectory scalable to 18 axes at an update rate of 5KHz.Actual hardware is designed to realize a 6 axes controller and experiments are performed on this setup. While analysis and trajectory generation are performed for 6 axes control, motor control is evaluated on a mechanical system with two motors. Comparisons are made based on the results obtained using various DSP controllers. The motion profile of a circle is implemented and tested in this article.
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