Analysis of Embedded Prefilters in Motion Profiles

摘要

In this study, representative motion profiles are analyzed to explain why smoother movement can enable a system to be silent, accurate, and reliable. Previous studies have indicated that abrupt changes in motion profiles are sources of system vibration and are directly connected to performance such as degraded efficiency and decreased machine's lifetime. Therefore, efforts to generate smoother motion profiles based on various functions such as polynomial and trigonometric functions are ongoing. However, a comprehensive analytical comparison of previous studies has not been performed. In this study, the relationship between the design of the motion profiles and their characteristics is analyzed in Laplace domain with well-defined comparison tools that are frequently employed in input shaping technique. From the analysis, the characteristics of each motion profile and the tradeoffs between the cost and benefit of generating smoother movement can be explained.