Some consideration regarding motion control and planning

Abstract

This paper presents a method to find energy-efficient motion path planning avoiding obstacles and obeying constraints. To allow for real-time computation, like human strategy, a path is not completely planned before motion. A motion planning module establish the intermediate positions and velocities points of moving object between starting and goal position. A new segment of total path is computed at each time step between each intermediate points, over a limited horizon. The control signals for torque, speed and position calculated between two states of a planar mechanism are applied in a feed-forward manner to motors drive controllers. There are several experimental results, which confirm the specified performances of the motion control system.