Analytical expression of motion profiles with elliptic jerk
نویسندگان
چکیده
Abstract The paper discusses the analytical expressions of a motion profile characterized by elliptic jerk. This is obtained through kinematic approach, defining jerk and then obtaining acceleration, velocity, displacement laws successive integrations. A dimensionless formulation adopted for sake generality. main characteristics are analyzed, outlining relationships between parameters. comparison with other carried out: trapezoidal cycloidal, sinusoidal jerk, modified Then, features these profiles evaluated in dynamic case study, assessing vibrations induced to second-order linear system different levels damping. results show that proposed law provides good compromise performance indexes (settling time, maximum absolute values velocity acceleration).
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ژورنال
عنوان ژورنال: Robotica
سال: 2023
ISSN: ['1469-8668', '0263-5747']
DOI: https://doi.org/10.1017/s0263574723000255