期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 17, 期 2, 页码 337-344出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2010.2103366
关键词
Electric and mechanical equations; minimum energy point-to-point (PTP); real-coded genetic algorithm (RGA); toggle mechanism; trajectory planning
类别
资金
- National Science Council of Taiwan [NSC-98-2221-E-327-010-MY3]
In this paper, we propose a novel minimum-energy point-to-point (PTP) trajectory planning method for a motor-toggle servomechanism, which is described by the mathematical model of a mechatronic system. To generate the mechatronic trajectory, we employed the real-coded genetic algorithm (RGA) to search for the minimum-energy trajectory for the PTP motion profile, which is described by a polynomial with suitable conditions of position, velocity, and acceleration at the start and end points. The RGA algorithm determines the coefficients of polynomials with the fitness function of minimum-energy input, and is performed in numerical simulations and experiments. The results are compared with those of the S-curve by a traditional proportional-integral control. The proposed methodology can also be applied to any mechatronic system driven by a motor.
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