Multi-axis Motion Control of Trajectory Planning
碩士 === 國立雲林科技大學 === 電機工程系 === 103 === This thesis develop an architecture which integrate Point-to-Point motion and contour motion into Trajectory planning, and can work with DSP. Machine's requirement transforms simple point processing into complex contour processing with the progress of the...
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| Format: | Others |
| Language: | zh-TW |
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2015
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| Online Access: | http://ndltd.ncl.edu.tw/handle/46064709718039563906 |
| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系 === 103 === This thesis develop an architecture which integrate Point-to-Point motion and contour motion into Trajectory planning, and can work with DSP.
Machine's requirement transforms simple point processing into complex contour processing with the progress of the times. The basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex. However, contour motion can be realized now, the major cause is CPU’s performance increased even use hardware acceleration.
This thesis has two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT which is based on cubic Hermite interpolation and Spline which is based on cubic Spline interpolation. Then implement it.
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