Research on Algorithm of Motion Trajectory Planning Based on Cosine Function
Acceleration and deceleration control is very important in the motion control system,which is directly related to the stability of machine operation.This paper first analyzes the advantages and disadvantages of traditional trapezoidal acceleration and deceleration,and accordingly proposes a combination algorithm of cosine function acceleration and deceleration and trapezoidal acceleration and deceleration;then introduces its derivation process in detail.The algorithm is simulated and experimentally analyzed on the Beckhoff TwinCAT control platform.Experimental verification shows that this acceleration and deceleration algorithm can overcome the shortcomings of traditional algorithms to obtain more ideal speed and acceleration.
cosine acceleration and decelerationspeed planningTwinCAT
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