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

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.