1. Soft Motion Trajectory Planning for a motor
By: Nicholas Curry
Instructor: Dr. Cris Koutsougeras
Advisor: Dr. Mohammad Saadeh
NOTE:
To change the image on this slide, select the picture and delete it. Then click the Pictures icon in the placeholder to insert your own image.

2. Soft Motion Trajectory Planning Fundamentals
Reduced the overall jerk of the system.
Applies a path or trajectory giving smooth motion to the start and ending of the displacement.

3. Future Motor Test Subjects
Stepper Motor Packages
(Test Only)
Servo Motor Packages
(Goal: Final System)
Advantages:
Easy to program and control.
I have worked with them many times before.
Extremely accurate movements.
Disadvantages:
Does not allow for torque measurements in real time.
Extremely accurate movements causes small steps in the trajectory that could cause extra vibration
Advantages:
Can read and write measurements
Accurately controls positions, speed, and torque using a certain controller
Disadvantages:
Hard to program and control in comparison to a stepper motor.
Out side of my current understanding.

4. Concept Testing Using Arduino
By applying some parameters I created a trajectory using a Sine wave and hard coded that into Arduino.
Forcing the steps to be taken as small intervals that I set to be 0.05 of a degree. Further tests need to be made.
rad = (theta * 3.14)/ 180;
y = sin(rad);
motorSpeed = map(y, -1, 1, shorttime, longtime);
myStepper.step(1);
delay(motorSpeed);
Serial.print(y);
if(theta < 90){
theta = theta_old - 90;
theta_old = theta_old + var_x; }
….}

5. Matlab Data For Servo Motor
Changes still need to be made to the program for optimization and accuracy.
The model output from Matlab has little to no control at the moment.
The plan is to use the components (figure on the right) to take the data points and output the desired trajectory.

6. Restrictions
We can provide up to 120 Volts because of the hardware the school can provide.
We only want to work with single phase.
Position, Speed, and Torque are essential to the collection a data we need to provide to the system and read from the servo motor.
Voltage
Phase
Controller
Max 120V
Single
Position, speed,
& torque
*For those reasons, we are going to go with one of Anaheim Automation control packages .

7. Objectives Research Soft Motion Hard code Model Find Parts
Research Parts & Compatibility
Research
and Plan
Wire & Configure Settings
Program that Runs the System
System Running Smoothly
System
Setup
Test Different Curves & Models
Collect Data
& Reports
Testing
Finalize System Using Collected Data & Reports
Create Final Report & Presentation
Finalize

8. QUESTIONS, COMMENTS, OR CONCERNS?