Analysis of Embedded Pre-filter in Motion Profiles

Fast and precise motion control technology is one of the critical technologies for increasing the productivity of transfer systems. However, a fast motion profile that pushes the system to the limits of its physical constraints also causes unexpected oscillation of system components. To resolve this dilemma between high-speed motion and the component vibration caused by rapid motion, researchers have proposed an ultra-smooth motion profile. In this paper, we analyze the representative motion profile, the trapezoidal velocity profile, and the S-curve in the frequency domain. We also explain how the smooth motion profile minimizes the vibration of the system by using a pre-filter embedded in the S-curve. In addition, the characteristics of the embedded pre-filter in the S-curve are compared with input shapers and verified through simulation.