Quote:
Originally Posted by winchymatt
So on a side note, if you were sending just position information to the PID controller, and did not have velocity and acceleration data, could one derive the velocity and acceleration by differentiating the position data with the previous position.. I guess this would not produce a true goal velocity, but may give some feed forward gain??
Matt.
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Matt,
The problem with this method is that discrete differentiation induces noise into the control loop. By using the path planning algorithm you have a pure, non noisy, velocity and acceleration profile.
Paul