运控控制算法.docVIP

Trio Motion Technology CamGen Specifications Description Formulae Sin Curve Sin+Speed Curve Sin+Constant Curve Offset+Sin Curve Offset+Sin+Speed Curve Piece-wise Curve Definitions Natural spline interpolation (3-term , boundary conditions d2x/dy2=0 at start and end of curve) Equations Let there be a set points and a set of equations .This means that we have unknowns to find. If we specify that the set of equations must pass through every position, and they are continuous in Speed and acceleration, then we get the following boundary conditions, , , and .This will give us equations