Tuning the S-curve motion profile in short distance case

In this paper, tuning the S-curve motion profile in short distance case is newly proposed to achieve fast movement with less residual vibration. The characteristics of the motion profile are analytically investigated using time- and Laplace-domain approaches. By adjusting tuning parameters, to place the zeros of the motion profile at the nearest position from the vibratory poles of the system, the residual vibration can be minimized. By simulation, the effectiveness of the proposed approach is validated.