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PREFACE:
This book addresses the challenges associated with planning motion laws and trajectories for the actuation systems of automatic machines, particularly those based on electric drives and robots.
The issue of planning appropriate trajectories is crucial not only for the optimal operation of these machines, to avoid undesirable effects such as vibrations or even damage to the mechanical structure, but also in certain phases of their design and in the selection and sizing of the actuators.
This is especially relevant now that the concept of "electronic cams" has replaced the traditional approach based on "mechanical cams" in the design of automatic machines.
The choice of a specific trajectory has direct and significant implications on various aspects of the design and operation of an automatic machine, such as the sizing of actuators and reduction gears, the vibrations and forces generated on the machine and load, and the tracking errors during motion execution.
For these reasons, to fully understand and appreciate the nuances of the different techniques available for trajectory planning, the book provides not only the mathematical aspects of their implementation but also a detailed analysis in both the time and frequency domains. It includes a comparison of their main properties from different perspectives and general considerations related to their practical use.
Therefore, we believe that the content of this book will be of interest not only to students of Electrical and Mechanical Engineering but also to engineers and technicians involved in the design and use of electric drives for automatic machines.
We would like to express our gratitude to all the individuals and colleagues who have contributed to this book. In particular, we extend our thanks to Claudio Bonivento for his initial suggestions and motivations, and to Alberto Tonielli for the discussions on electric drives and their applications.
Our colleagues and friends Roberto Zanasi, Cesare Fantuzzi, and Alessandro De Luca have contributed significantly with their constructive comments and the development of some of the algorithms presented in this book.
Finally, we gratefully acknowledge the assistance of all the students who worked on these topics, developing software and conducting experimental activities, as well as the collaborations and discussions with technicians and engineers from various industries regarding their challenges in the design, control, and trajectory planning for automatic machines.