S-curve algorithm of acceleration/deceleration with smoothly-limited jerk in high-speed equipment control tasks

Abstract

The needs of increase in accuracy, quality and shape complexity of parts manufactured in high-speed equipment is a trend of industry. Problems of ensuring the accuracy at high velocities of machine organs motions are formulated. Machine organs movements accuracy is determined by smoothness of their motions and depends on the smoothness of the trajectory and the law of velocity changing along the trajectory. Algorithm of velocity changing along trajectory using S-curve acceleration-deceleration with smoothly-limited jerk is proposed. Experimental verification of the accuracy CNC machine organs motions at their control with using proposed S-curve algorithm showed a decrease in positioning errors.