Trapezoidal speed motion pattern

[kr4fty]

Hi misan, I hope you are well. First of all, I wanted to congratulate you on the excellent work you have done.

You could explain roughly the advantages of using the trapezoidal speed motion pattern.

Thank you very much and greetings from Argentina

[misan]

In a nutshell, motion planning takes into account the physics of the motion which are not account for by the PID (motor cannot accelerate faster than a given maximum, so there is no way it would do so no matter how hard the PID controller asks it to). So, motion is going to follow a given plan, where velocity has a trapezoidal profile. This way position and speed is known at any instant and controller can correct any deviation. Specially useful when you want synchronized motion of several motors.

On Sun, May 14, 2017 at 4:25 AM, Tapia Favio [email protected] wrote:

Hi misan, I hope you are well. First of all, I wanted to congratulate you on the excellent work you have done.

You could explain roughly the advantages of using the trapezoidal speed motion pattern.

Thank you very much and greetings from Argentina

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/misan/dcservo/issues/23, or mute the thread https://github.com/notifications/unsubscribe-auth/AAccyOpgL4WvTWazqGmecwYvDvPx7oJVks5r5mYDgaJpZM4NaQH2 .

[kr4fty]

Thanks for the answer and for your very good explanation