Motion Profiles with Elliptic Jerk

Stretti, Daniele; Bruzzone, Luca

doi:10.1007/978-3-031-10776-4_6

Cited by 2 publications

(3 citation statements)

References 14 publications

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“…In ref. [15], a kinematic method based on a motion law with elliptic jerk has been proposed and compared to other profiles discussed in the scientific literature: trapezoidal velocity, S-curve (trapezoidal acceleration), cycloidal, sinusoidal jerk [16], modified sinusoidal jerk [17].…”

Section: Introductionmentioning

confidence: 99%

“…The main novelty of the work with respect to the early results presented in ref. [15] is the presentation of the analytical expressions of the motion profile in terms of acceleration, velocity, and displacement, obtained by successive integrations, and a more extended discussion of the dynamic response as a function of the system damping coefficient.…”

Section: Introductionmentioning

confidence: 99%

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Analytical expression of motion profiles with elliptic jerk

et al. 2023

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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).

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Analytical expression of motion profiles with elliptic jerk

et al. 2023

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“…In this paper, a recently proposed motion profile with elliptic jerk [9] is compared to other profiles discussed in the scientific literature with reference to the position control of robots. In [9,10] the elliptic jerk profile has been discussed with application to single-input single-output (SISO) systems. In this work, the investigation is extended to a multi-input multi-output (MIMO) system, a serial robot with Cartesian space position control.…”

Section: Introductionmentioning

confidence: 99%

Application of Elliptic Jerk Motion Profile to Cartesian Space Position Control of a Serial Robot

Bruzzone

Stretti

2023

Applied Sciences

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The paper discusses the application of a motion profile with an elliptic jerk to Cartesian space position control of serial robots. This motion profile is obtained by means of a kinematic approach, starting from the jerk profile and then calculating acceleration, velocity and position by successive integrations. Until now, this profile has been compared to other motion laws (trapezoidal velocity, trapezoidal acceleration, cycloidal, sinusoidal jerk, modified sinusoidal jerk) considering single-input single-output systems. In this work, the comparison is extended to nonlinear multi-input multi-output systems, investigating the application to Cartesian space position control of serial robots. As case study, a 4-DOF SCARA-like architecture with elastic balancing is considered; both an integer-order and a fractional-order controller are applied. Multibody simulation results show that, independently of the controller, the behavior of the robot using the elliptic jerk profile is similar to the case of adopting the sinusoidal jerk and modified sinusoidal jerk laws, but with a slight reduction in the position error (−3.8% with respect to the sinusoidal jerk law and −0.8% with respect to the modified sinusoidal jerk law in terms of Integral Square Error) and of the control effort (−8.2% with respect to the sinusoidal jerk law and −1.3% with respect to the modified sinusoidal jerk law in terms of Integral Control Effort).

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Motion Profiles with Elliptic Jerk

Cited by 2 publications

References 14 publications

Analytical expression of motion profiles with elliptic jerk

Analytical expression of motion profiles with elliptic jerk

Application of Elliptic Jerk Motion Profile to Cartesian Space Position Control of a Serial Robot

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