Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics, however it is more complex than in the use of specialized machines, where the kinematics are usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries.
The basic architecture of a motion control system contains:
- A motion controller to generate the set points (the desired output) and close the position feedback loop. Many controllers also internally close a velocity loop.
- A drive or amplifier to transform the velocity or torque signal from the motion controller into a higher power electrical current. Newer "intelligent" drives can close the position and velocity loops internally, resulting it much more accurate control.
- A hydraulic pump, air cylinder, linear actuator or electric motor for output motion.
- A feedback sensor such as an encoder, resolver or hall effect device to return the motor (or machine) position to the motion controller in order to close the position loop.
- Mechanical components to transform the motor's motion into the desired motion, including: gears, shafting, belts, linkages, and linear and rotational bearings.
Common control functions include:
- Velocity control
- Point-to-point moves (position control). There are several methods for computing a position trajectory. These are often based on the velocity profiles of a move such as a triangular profile, trapezoidal profile, or an S-curve.
- Electronic gearing (or camming). The position of a slave axis is linearly linked to the position of a master axis. A good example of this would be in a system where 2 rotating drums turn at a given ration to each other. A more advanced case of electronic gearing is electronic camming. With E-camming, a slave axis follows a profile that is a function of the master position. This profile need not be linear, but it must be a function.
