TUNING RULE OF THE OPTIMIZED S-CURVE MOTION PROFILE TO ROBUSTLY MINIMIZE THE RESIDUAL VIBRATION

摘要

A method for designing an S-curve motion profile is disclosed. The method for designing an S-curve motion profile includes determining an optimized S-curve motion profile by searching a solution of tuning parameters minimizing a preset objective function under one or more constraints of a solution set of tuning parameters (Amax, Vmax, smoothness ()) determining an S-curve motion profile, wherein the constraints may include a C1 condition of classifying the S-curve motion profile according to moving distances; a C2 condition of restricting an adjusting range of the tuning parameters to the limits of an actuator; a C3 condition of obtaining a zero point generated by the S-curve motion profile, and a pole point indicating the unique characteristics of the system to arrange the zero point around the pole point; and a C4 condition of restricting the maximum amplitude of the relative amplitude of vibration which may occur during a movement of the actuator.