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

Abstract

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.