A practically efficient method for motion control based on asymmetric velocity profile

被引：30
|
作者：
Rew, Keun-Ho [2 ]
Ha, Chang-Wan [1 ]
Kim, Yung-Soo [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
[2] Hoseo Univ, Dept Robot Engn, Asan 336795, Chungnam, South Korea
来源：
INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE | 2009年 / 49卷 / 7-8期
关键词：
Motion profile; S-curve; Asymmetric S-curve; Residual vibration; Jerk; Velocity profile; GENERATION; DESIGN;
D O I：
10.1016/j.ijmachtools.2009.01.008
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a practically efficient method to achieve the desirable motion behaviors is proposed and validated by introducing the asymmetricity to the conventional S-curve velocity profile. The proposed asymmetric S-curve profile allows the manipulation of jerk magnitude at the deceleration period by a single parameter so that the residual vibration or the maximum acceleration can be easily managed. The prospective of the proposed method will be demonstrated by the experiments. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码：678 / 682
页数：5
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