Robust motion control and trajectory planning for planar laser cutting system

In modern industrial systems laser cutting of different materials is a growing area. A laser cutting system must be well designed regarding overall system performance thus assuring demanded tolerance of a workpiece. The original solution of the mechanical construction and the use of low cost mechanical components results in nonrigid system. Since non-rigid mechanics complicates the control of the system, the combination of advanced controllers and smooth trajectory planning algorithms has to be used. A new advanced robust continuous sliding mode controller used for the control of non-rigid systems and the algorithms for the smooth trajectory planning modified in order to avoid resonance frequencies and ensure timely decelerations in order to stop the machine without braking are described in the paper together with some experimental results on the industrial application of XY table.