Conference paper

Proceedings of the 10th International PhD Workshop on Systems and Control

ÚTIA, AV ČR

Praha

2009

978-80-903834-3-2

Ing. Miroslav Kárný, DrSc. (ÚTIA - Oddělení adaptivních systémů)

time parameterization, mechatronics, predictive control

Time parameterization of user demands (demands on course of path, position etc.) is one of inherent preparative operations before starting real control of any of mechatronic systems. The main objective is to generate the reference inputs i.e. desired, required values with appropriate timing of used control system. In general, the time parameterization itself represents generating a time sequence of the reference values according to some deterministic way defined beforehand, where this time-reference sequence interpolates the initial parameters arising from user demands. This paper addresses optimally-smooth time parameterizations intended for mechatronic systems particularly for machining robotic applications.