Motion Planning Strategies to Improve the Dynamic Behaviour of Controlled Mechanical Systems

Abstract

The aim of the work is to give practical suggestions for the “motion planner” of a servosystem in all those cases where the choice of the movement becomes difficult due to the so called “parasitic effects” which prevent the theoretical motion of the moving load as programmed in the machine controller. Together with a brief description of some important motion planning techniques, the paper suggests two original classes of parametric definition of motion which can be useful for the solution of the problem described above.