Spline-based Trajectory Separation and Coordinated Control for a Dual-stage

Abstract

For a high-precision and high-speed processing machine, we consider a trajectory tracking system with a coordinated controlled dual-stage. The dual-stage has two axes, one has wider range of actuation and lower band width which named slower-axis, another has shorter range of actuation and higher band width which named faster-axis.In this research, we propose a method for separation of a time series of tool position command into the slower- and faster- axis position command by using a B-spline basis function considering with actuation limit of the faster axis. And we show a method of coordinated control.