Optimized s-curve motion profiles for minimum residual vibration

A method for developing optimized point-to-point motion profiles to achieve fast motions with minimum vibration is presented. The proposed approach uses the well-known s-curve motion profiles, but optimizes the selection of the ramp-up (and ramp-down) time. The selection of ramp-up time is based on a frequency analysis that minimizes the excitation energy of the input forcing function at the system natural frequency. Simulation results on a lightly-damped system undergoing point-to-point motions demonstrate that the proposed approach decreases residual vibration by almost an order of magnitude over other approaches, even when the actual natural frequency is in error by 10%