A Closed-Form Solution to Asymmetric Motion Profile Allowing Acceleration Manipulation

Rew, Keun-Ho; Kim, Kyung-Soo

doi:10.1109/tie.2009.2036032

Cited by 56 publications

(17 citation statements)

References 17 publications

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“…Once the length of the movement was known, the acceleration-deceleration time was computed. For this application, the total time of the acceleration is divided by γ = 4 10 , and T acc = γT in order to have a symmetric profile. On the other hand, the duration of the jerk stage must be divided by four times the acceleration phase T acc to ensure an S-curve velocity profile equal in length of acceleration, maximum velocity and deceleration stages, the proportional value was ϕ = 1 4 , so that the jerk was going to remain zero for T jerk = 2 4 T acc .…”

Section: S-curve Velocity Profile Parametersmentioning

confidence: 99%

“…The velocity profiles have been studied broadly in recent years to design point-to-point trajectories in robot manipulators, conveyor belts, computer numerical control (CNC) machinery or whatever system with the use of direct current (DC) and alternating current (AC) motors [1,2]. Velocity profiles have an essential role in motion control since it is possible to accomplish a target position reducing the vibrations and the energy consumption, increasing the precision and the durability of the systems [3,4]. Nowadays, a great variety of velocity profiles exist, but their accuracy depends on the velocity's demeanor.…”

Section: Introductionmentioning

confidence: 99%

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A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

2019

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The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved.

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Section: S-curve Velocity Profile Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

2019

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“…The smoother acceleration profile can enable the system to be quieter, more accurate, and reliable. The embedded prefilter is introduced in the Laplace domain, similar to the input shaping technique [18]. By analyzing the characteristics of the prefilter in the motion profiles [1], [4], [18], the motion planning suppresses the vibration of the flexible system.…”

Section: Introductionmentioning

confidence: 99%

“…The embedded prefilter is introduced in the Laplace domain, similar to the input shaping technique [18]. By analyzing the characteristics of the prefilter in the motion profiles [1], [4], [18], the motion planning suppresses the vibration of the flexible system. However, two-axis synchronization and contour tracking are not considered in [4], [18].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

Yong-ping¹,

Yang

Chen

et al. 2021

IEEE Access

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“…These designs, also called velocity profiles, are presented as piece wise finite order polynomials [16] and they play an important role in motion control applications. The main advantage of using velocity profiles is the reduction of vibrations and energy consumption [17]. The most used profiles are: trapezoidal [18] and parabolic [19].…”

Section: Introductionmentioning

confidence: 99%

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

et al. 2020

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The objective of this work is to design and implement a scalable Field-Programmable Gate Array (FPGA)-based motion control system for DC servo motors using a parabolic velocity profile for industrial applications. The implementation in this device allows the obtaining of a fast, flexible and low-cost system. The system is divided into control, communication and closed-loop coupling. The work also addresses a comparative analysis of the most used profiles, the trapezoidal and parabolic. The comparison is made considering the energy consumption of both profiles. As a consequence of the comparison made, the velocity profile can be selected to reduce production costs by saving energy and reducing wear on machinery. The discrete models of the velocity profiles are obtained through numerical methods that permit the control blocks to be implemented in an FPGA. To reduce maintenance costs and energy consumption in servo mechanisms, the derivation of the acceleration or jerk of the motor is shown. A Graphic User Interface (GUI) is presented, which allows monitoring the position, velocity and angular acceleration of the motor shaft. In addition, the developed interface supports modification of parameters of the final position and maximum velocity in the motor. The delivered current is compared, evaluating its decrease using a parabolic velocity profile. Finally, the experimental results are illustrated.

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A Closed-Form Solution to Asymmetric Motion Profile Allowing Acceleration Manipulation

Cited by 56 publications

References 17 publications

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

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