Abstract
Trajectory corners generated while generation of a curve from curved fragments using micro-positioning \(X{-}Y\) stages poses serious limitations on their use for smooth motion trajectory applications. In this research, a controller along with its control algorithm is presented which uses a penalized curve fitting-based approach to steer low cost/ low resolution stepper motor driven stage motion so that the cornerization in the trajectory is minimized without any serious degradation to accuracy. The control algorithm is initially implemented in MATLAB to check its fidelity. Subsequently, a complete set up involving ARM-based controller, motor drivers and precision positioning stages is built in order to facilitate the working of the algorithm in real time. The set up is tested for CNC machining application, where material removal takes place in a precise manner according to the trajectory of \(X{-}Y\) positioning stages. A good match was found between simulation and experimental results in trajectory generation. It was further observed that the use of penalized spline trajectory reduces the cornerization in trajectory generation.
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