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Asymmetric Velocity Profile with Fixed Motion Time for Motion Control

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In this paper, an asymmetric velocity profiles with fixed motion time is proposed, which enables the motion distance and motion time satisfy the requirement simultaneously. The complete motion equations are derived and parameters calculate approach is shown for all possible profile instance. This asymmetric velocity profile is obtained on the basis of S-curve profile, and use two scalars which related with time interval of acceleration and deceleration phase describe jerk values. By adjusting two scalars the jerk in deceleration has a smaller value than it in acceleration phase, so the residual vibration is efficiently reduced. Experiments with a wafer transfer robot testify the approach.
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Keywords: ASYMMETRIC S-CURVE; FIXED MOTION TIME; MOTION CONTROL; RESIDUAL VIBRATION; VELOCITY PROFILE

Document Type: Research Article

Publication date: 2012-03-01

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