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MOTION CONTROL METHOD, MOTION CONTROL DEVICE, AND MOTION TRAJECTORY PLANNING METHOD
MOTION CONTROL METHOD, MOTION CONTROL DEVICE, AND MOTION TRAJECTORY PLANNING METHOD
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机译:运动控制方法,运动控制装置和运动轨迹计划方法
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摘要
A motion control method includes: (a) obtaining a current position and a current velocity of a control object at a current time; (b) obtaining a current acceleration based on the current position and the current velocity, wherein the current acceleration has a positive eon-elation With a difference between the current position and a target position as well as a negative correlation with the current velocity; (c) controlling a motor for driving the control object utilizing the current acceleration; and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position. A motion trajectory planning method and a motion control device are further provided. Through the above-mentioned way, the present disclosure could realize the smooth acceleration and smooth deceleration of the motor. As a result, smooth motion trajectory, less vibration, and stable motor with less overshoot could be achieved.
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