🚀 go-pugleaf

Thursday 24 April 1991
---------------

I need help with a very standard problem in motion control.
I have two stepper motors, each connected to a seperate axis
(like a plotter or CNC XY table).

[a] I want axis A to go 20000 steps.
[b] I want axis B to go 13000 steps in the same time as axis B so
    that a straight line results.
[c] assume a constant acceleration rate of 1000 steps/s*s is given

What would the algorithm look like during acceleration?

If there were no acceleration, I could solve the problem; but the
fact that my application requires acceleration has confused me
greatly.

I order for each axis to go along a straight line, the ratios
of the accelerations must be constant in time. (eg. when axis A is
doing a constant acceleration so must B; when axis A has
acceleration 0 (eg. it's ramped up) so must B)).

What's the standard approach to this problem?  Is there a book
I should refer?

Thanks for any info. smiller@wet.UUCP
-- 
G. Shane Miller [ smiller@wet.UUCP (415) 453-4926 ]