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Sinusoidal Motion Profile Equations, Code, & Plots
*PLEASE USE THESE LINKS TO DOWNLOAD LATEST VERSIONS*
Sinusoidal Accel Profile
How to calculate a smooth sinusoidal acceleration motion profile,
given max accel and distance-to-target.
PDF file includes equations, example plots, and working Maxima scripts:
http://www.chiefdelphi.com/media/papers/download/4496
Sinusoidal accel motion profile generator Win32 console app
for off-line profile generation
http://www.chiefdelphi.com/media/papers/download/4639
cascaded position and velocity loops with feedforward.
http://www.chiefdelphi.com/media/papers/download/4346
x(t) v(t) a(t) motion profile with TalonSRX in speed-control mode.
http://www.chiefdelphi.com/media/papers/download/4457
x(t) v(t) a(t) motion profile with TalonSRX in position-control mode.
http://www.chiefdelphi.com/media/papers/download/4638
Attached Files
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Sinusoidal Accel Profile equations & graph
Sinusoidal Accel Profile.png
download file
uploaded: 20-02-2015 16:01
filetype: png
filesize: 39.96kb
downloads: 357
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Sinusoidal Accel Profile - Maxima script
Sinusoidal Accel Profile.mac.txt
download file
uploaded: 20-02-2015 16:02
filetype: txt
filesize: 591bytes
downloads: 135
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Trapezoidal Accel Profile Maxima script
Trapezoidal Accel Profile.mac.txt
download file
uploaded: 20-02-2015 20:35
filetype: txt
filesize: 1.51kb
downloads: 150
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Trapezoidal Accel Profile Maxima example plot
Trapezoidal Accel Profile.png
download file
uploaded: 20-02-2015 20:36
filetype: png
filesize: 27.83kb
downloads: 291
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cascaded position and velocity loops with feedforward revA
x(t) v(t) a(t) revA.png
download file
uploaded: 18-03-2015 16:45
filetype: png
filesize: 258.96kb
downloads: 670
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x(t) v(t) a(t) with TalonSRX in speed-control mode
x(t) v(t) a(t) with TalonSRX.png
download file
uploaded: 09-05-2015 11:07
filetype: png
filesize: 16.78kb
downloads: 743
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how to calculate sinusoidal acceleration motion profile revC
sinusoidal acceleration motion profile revC.pdf
download file
uploaded: 10-08-2015 12:51
filetype: pdf
filesize: 149.43kb
downloads: 485
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x(t) v(t) a(t) motion profile SRX position control
x(t) v(t) a(t) SRX CLP.png
download file
uploaded: 07-03-2016 10:51
filetype: png
filesize: 15.86kb
downloads: 190
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Sinusoidal accel motion profile generator Win32 console app
sine_accel_1724.zip
download file
uploaded: 07-03-2016 17:59
filetype: zip
filesize: 50.19kb
downloads: 207
Discussion
view entire thread
20-02-2015 10:14
JesseK
Re: paper: Trapezoidal Motion Profile Generator
I see that this is desired behavior, but how do we poke the robot so it does what we want?
Is 'v' proportional to the motor output? Seems like we would tune 'amax' until the robot drives the desired distance in the desired time.
Is motor output a combination of 'v' and the different between actual 'x' and desired 'x'?
20-02-2015 11:13
Ether
Re: paper: Trapezoidal Motion Profile Generator
Hi Jesse, I answered your question here:
http://www.chiefdelphi.com/forums/sh...d.php?t=134965
@all: please use the above link for any further discussion. Thanks.
20-02-2015 12:37
Paul Copioli
Re: paper: Trapezoidal Motion Profile Generator
Ether,
I am curious as to why you are proposing this equation based method when the filter based method posted from post #18 in this thread:http://www.chiefdelphi.com/forums/sh...motion+profile
The filter method is so much more real time friendly and flexible as you can determine the motion acceleration type just by manipulating the filter lengths.
Paul
20-02-2015 13:00
Ether
Re: paper: Trapezoidal Motion Profile Generator
Greetings all:
Please continue the discussion in this thread:
http://www.chiefdelphi.com/forums/sh...d.php?t=134965
Thank you !
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