Data Filtering and Regression in Estimating Slew Motion Timing Model

In many high-speed automated equipment, such as placement machines in surface mount technology lines, the most important thing is to move certain device to specific positions quickly. The trajectory is not critical. These machines utilize slew motions. The process of such machines can be divided into a set of sequential tasks moving between programmed points. In order to operate the machines efficiently, it is important to know the time it would take to move from any point to any other point, i.e. its timing model. This paper presents a method to estimate the timing model. The method is based on a data filtering and curve fitting. The work was done on a placement machine but the method is applicable to other highspeed machines with slow motion.