Analytical expression of motion profiles with elliptic jerk

被引：6
|
作者：
Stretti, Daniele [1 ]
Fanghella, Pietro [2 ]
Berselli, Giovanni [2 ]
Bruzzone, Luca [2 ]
机构：
[1] ASG Supercond SpA, Magnet & Syst Unit, Genoa, Italy
[2] Univ Genoa, Dept Mech Energy Management & Transport Engn DIME, Genoa, Italy
来源：
ROBOTICA | 2023年 / 41卷 / 07期
关键词：
motion control; elliptic jerk; motion profiles; vibrations; SYSTEMS; SMOOTH; DESIGN; ROBOTS;
D O I：
10.1017/S0263574723000255
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper discusses the analytical expressions of a motion profile characterized by elliptic jerk. This motion profile is obtained through a kinematic approach, defining the jerk profile and then obtaining acceleration, velocity, and displacement laws by successive integrations. A dimensionless formulation is adopted for the sake of generality. The main characteristics of the profile are analyzed, outlining the relationships between the profile parameters. A kinematic comparison with other motion laws is carried out: trapezoidal velocity, trapezoidal acceleration, cycloidal, sinusoidal jerk, and modified sinusoidal jerk. Then, the features of these motion profiles are evaluated in a dynamic case study, assessing the vibrations induced to a second-order linear system with different levels of damping. The results show that the proposed motion law provides a good compromise between different performance indexes (settling time, maximum absolute values of velocity and acceleration).
引用
收藏
页码：1976 / 1990
页数：15
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