An optimized cosine jerk motion profile with higher efficiency and flexibility

Abstract

Purpose

The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper.

Design/methodology/approach

A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model is created to assess the motion efficiency and flexibility of the motion profiles with the proposed acc/dec algorithm.

Findings

Considering the flexibility of trigonometric motion profiles and the higher motion efficiency of S-curve motion profiles, the authors add the polynomial parts into the jerk profile of the cosine function acc/dec algorithm to hold the jerk when it reaches the maximum so that the motion efficiency can increase and decrease residual vibration at the same time. And the cyclical parameter k shows the decisive factor for the flexibility of trigonometric motion profiles.

Originality/value

Comparing with the traditional motion profiles, the proposed motion profiles have higher motion efficiency and excite less residual vibration. The acc/dec algorithm proposed in this paper is useful for the present motion control and servo system.

Citation

Zhu, Q., Jin, Y. and Zhu, Y. (2022), "An optimized cosine jerk motion profile with higher efficiency and flexibility", Assembly Automation, Vol. 42 No. 3, pp. 350-360. https://doi.org/10.1108/AA-11-2021-0165