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- Title
On Algorithms for Planning S-curve Motion Profiles.
- Authors
Kim Doang Nguyen; Teck-Chew Ng; I-Ming Chen
- Abstract
Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with time-optimal consideration is proposed. In addition, a special strategy for planning s-curve motion profiles using a trigonometric model is also presented. The algorithms are implemented on a linear motor system. Experimental results show the effectiveness and promising application ability of the algorithms in s-curve motion profiling.
- Subjects
ROBOTICS; AUTOMATION; MOTION control devices; MECHANIZATION; AUTOMATIC control systems
- Publication
International Journal of Advanced Robotic Systems, 2008, Vol 5, Issue 1, p99
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/5652