This paper gives an algorithm for fourth order trajectory planning with constrained dynamics for single axis motion control. A model-based feedforward controller is derived that makes full use of these trajectories. Application to industrial high-precision electromechanical motion systems is motivated. Issues like time-optimality, implementation and digitization are considered. Simulation results show superior effectiveness in comparison with rigid-body feedforward.
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Lambrechts et al. (2004) studied this question.