Synthesis of Trigonometric Motion Programs With Lower Motion Characteristics

摘要
Motion characteristics are dimensionless peak values of velocity, acceleration, jerk, and acceleration multiplied by velocity of a motion program. In general, these peak values of synthesized motion programs should be as low as possible. Some trigonometric motion programs are widely used because they have a good compromise of all motion characteristics. A property in common for trigonometric motion programs is that their acceleration functions can be expressed as a qualitative shape of a sinusoidal function. The interval of the sinusoidal function is divided into several zones having different linear slopes. The acceleration function can be easily shaped by specifying presented phase angle function to synthesize desired motion programs. To improve the kinematic quantities of trigonometric motion programs, this paper addresses an alternative phase angle function to obtain synthesized motion programs with simultaneous reduction in all the motion characteristics. The synthesis process and results are illustrated by examples.