An Algorithms for Planning S-Curve Motion Profile Considering Arbitrary Short Path Length

摘要

Motion control is a key technology in controlling machine tools, manipulator robots, and automation machine, etc. In motion controllers, velocity and position are controlled by closed loop feedback to create desired motions. The main target in motion control is fast, accurate, small oscillations, no overshoot in both position and velocity. One of the most popular control method is using S-Curve motion profile. Many papers, and researcher have reported on this method. However, there is not any report on the implement of this method under consideration of arbitrary short path length. It should be noted that the path length is arbitrary in the usual NC programming. This paper proposes an algorithm for planning S-curve motion profile in considering arbitrary short path length.