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Motion Profile Equations, Code, and Plots

Ether

By: Ether
New: 02-19-2015 10:37 PM
Updated: 03-07-2016 04:59 PM
Total downloads: 4352 times


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

  • png Sinusoidal Accel Profile equations & graph

    Sinusoidal Accel Profile.png

    downloaddownload file

    uploaded: 02-20-2015 03:01 PM
    filetype: png
    filesize: 39.96kb
    downloads: 418


  • txt Sinusoidal Accel Profile - Maxima script

    Sinusoidal Accel Profile.mac.txt

    downloaddownload file

    uploaded: 02-20-2015 03:02 PM
    filetype: txt
    filesize: 591bytes
    downloads: 158


  • txt Trapezoidal Accel Profile Maxima script

    Trapezoidal Accel Profile.mac.txt

    downloaddownload file

    uploaded: 02-20-2015 07:35 PM
    filetype: txt
    filesize: 1.51kb
    downloads: 206


  • png Trapezoidal Accel Profile Maxima example plot

    Trapezoidal Accel Profile.png

    downloaddownload file

    uploaded: 02-20-2015 07:36 PM
    filetype: png
    filesize: 27.83kb
    downloads: 338


  • png cascaded position and velocity loops with feedforward revA

    x(t) v(t) a(t) revA.png

    downloaddownload file

    uploaded: 03-18-2015 03:45 PM
    filetype: png
    filesize: 258.96kb
    downloads: 793


  • png x(t) v(t) a(t) with TalonSRX in speed-control mode

    x(t) v(t) a(t) with TalonSRX.png

    downloaddownload file

    uploaded: 05-09-2015 10:07 AM
    filetype: png
    filesize: 16.78kb
    downloads: 1003


  • pdf how to calculate sinusoidal acceleration motion profile revC

    sinusoidal acceleration motion profile revC.pdf

    downloaddownload file

    uploaded: 08-10-2015 11:51 AM
    filetype: pdf
    filesize: 149.43kb
    downloads: 775


  • png x(t) v(t) a(t) motion profile SRX position control

    x(t) v(t) a(t) SRX CLP.png

    downloaddownload file

    uploaded: 03-07-2016 09:51 AM
    filetype: png
    filesize: 15.86kb
    downloads: 321


  • zip Sinusoidal accel motion profile generator Win32 console app

    sine_accel_1724.zip

    downloaddownload file

    uploaded: 03-07-2016 04:59 PM
    filetype: zip
    filesize: 50.19kb
    downloads: 338



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Discussion

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02-20-2015 09:14 AM

JesseK


Unread 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'?



02-20-2015 10:13 AM

Ether


Unread 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.




02-20-2015 11:37 AM

Paul Copioli


Unread 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



02-20-2015 12:00 PM

Ether


Unread 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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