Using asymmetric S-curve profile for fast and vibrationless motion

In the paper, we newly propose the asymmetric S-curve profile method for fast and vibrationless motion. Traditionally, the S-curve velocity profile which is symmetric and of two-step has been used to suppress residual vibration of actuator motions in practice. However, for high productivity, we introduce an asymmetricity into the S-curve profile, named asymmetric S-curve. It will be shown that the proposed asymmetric S-curve method has fast and smooth motion characteristics, compared with conventional approaches. By simulations, the performance of the asymmetric S-curve method applied to a motor position control problem will be verified.