In order to meet the motion control requirements of high speed and high precision, a fast fouth-order trajectory planning and feedforward control algorithm was investigated. Due to the drawbacks of computation complexity and low efficiency residing in the existing algorithm, the whole computation process was revised. By pre-computing in classifying the trajectory, a large amount of useless computation, comparison and decision-making were avoided. The velocity and efficiency of the revised algorithm were greatly improved so that it is suitable for real time computation. The implementation aspects were also discussed, and the discretization error was analyzed and compensated. Finally the feedforward control structure based on the fouth order trajectory was set up. The simulation result showed the effectiveness and reliability of the algorithm proposed.
