전자부품 데이터시트 검색엔진
  Korean  ▼
ALLDATASHEET.CO.KR

X  

Preview PDF HTML

AN2350 데이터시트(PDF) 28 Page - STMicroelectronics

부품명 AN2350
상세설명  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
Scroll/Zoom Zoom In 100%  Zoom Out
제조업체  STMICROELECTRONICS [STMicroelectronics]
홈페이지  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 데이터시트(HTML) 28 Page - STMicroelectronics

Back Button AN2350 Datasheet HTML 24Page - STMicroelectronics AN2350 Datasheet HTML 25Page - STMicroelectronics AN2350 Datasheet HTML 26Page - STMicroelectronics AN2350 Datasheet HTML 27Page - STMicroelectronics AN2350 Datasheet HTML 28Page - STMicroelectronics AN2350 Datasheet HTML 29Page - STMicroelectronics AN2350 Datasheet HTML 30Page - STMicroelectronics AN2350 Datasheet HTML 31Page - STMicroelectronics AN2350 Datasheet HTML 32Page - STMicroelectronics Next Button
Zoom Inzoom in Zoom Outzoom out
 28 / 41 page
background image
Control algorithm
AN2350
28/41
gradually ramp-up the motor velocity, until it reaches the desired speed and then, gradually
ramp-down it until it stops after the task is complete, as shown in Figure 21:
Figure 21.
Example of trapezoidal velocity profile
The trapezoidal velocity profile is analytically expressed as follows:
where t1 is the time slot for the ramp-up, t3 is the total time for the execution of the entire
trajectory, and
is the time slot during which the end effector moves at desired
speed vc (also called the cruising speed).
Integrating it respect to the time, it is possible to obtain the function that describes the space
covered in the workspace.
The time t1 can be obtained from the knowledge of the cruising speed and the acceleration
a (that represent the known parameters)
and the total time t3 can be obtained from the distance smax between the start point and the
stop point as follows:
Motor
Speed
Time
Start
Accelerate
Cruising speed
Decelerate
Stop
t1
t2
t3
⎪
⎩
⎪
⎨
⎧
<
≤
−
+
−
−
−
<
≤
<
≤
=
3
1
3
1
3
1
3
1
1
)
(t
)
(
)
(
t
t
t
0
)
(
t
t
t
t
t
t
a
v
t
t
t
v
at
t
v
c
c
)
(
t
1
3
2
t
t
−
=
⎪
⎪
⎪
⎩
⎪
⎪
⎪
⎨
⎧
<
≤
−
+
−
+
−
+
+
−
−
<
≤
+
<
≤
=
3
1
3
2
1
3
1
3
2
1
1
3
1
3
1
2
1
1
2
)
(t
)
t
-
a(t
2
1
)
(
at
2
1
)
2
(
)
(
t
at
2
1
)
t
-
(t
t
t
0
2
1
)
(
t
t
t
t
t
t
t
v
t
t
v
t
t
t
v
at
t
s
c
c
c
a
v
c
=
1
t
1
max
3
1
3
3
max
t
)
(
s
t
v
s
t
v
t
v
t
s
c
c
c
+
=
⇒
−
=
=



Html Pages

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41


데이터시트 다운로드

Go To PDF Page


링크 URL



ALLDATASHEET 가 귀하에 도움이 되셨나요?  [ DONATE ] 

Alldatasheet는?   |   광고문의   |   운영자에게 연락하기   |   개인정보취급방침   |   링크 투 데이터시트    |   링크교환   |   제조사별 검색
All Rights Reserved©Alldatasheet.com


Mirror Sites
English : Alldatasheet.com  |   English : Alldatasheet.net  |   Chinese : Alldatasheetcn.com  |   German : Alldatasheetde.com  |   Japanese : Alldatasheet.jp
Russian : Alldatasheetru.com  |   Korean : Alldatasheet.co.kr  |   Spanish : Alldatasheet.es  |   French : Alldatasheet.fr  |   Italian : Alldatasheetit.com
Portuguese : Alldatasheetpt.com  |   Polish : Alldatasheet.pl  |   Vietnamese : Alldatasheet.vn
Indian : Alldatasheet.in  |   Mexican : Alldatasheet.com.mx  |   British : Alldatasheet.co.uk  |   New Zealand : Alldatasheet.co.nz
Family Site : ic2ic.com  |   icmetro.com