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《Modular Machine Tool & Automatic Manufacturing Technique》 2006-05
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Trajectory Planning for Point-to-point Movement with a Constant Velocity Duration

LU Lian-shi,PAN Hai-hong(Department of Mechanical Engineering,Guangxi University,Nanning 530004,China)  
According to the general trajectory equation of motion system,based on analysis for several acceleration/deceleration algorithms such as T-curve,S-curve and the forth order profile and their simulate profiles,this paper compares their adaptable occasions and the advantages and disadvantages of their properties.In this paper,it studies the algorithm of S-curve with a constant velocity duration in detail,which takes time optimal into account.A simulate example is taken to test each switching point.The study shows that S-curve is available for the high speed and precision motion.
【Fund】: 国家973重点基础研究发展计划资助项目(2003CB716206)
【CateGory Index】: TH113.2
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