The trapezoid and S-curve for real-time servomotors control

This article deals with the issue of controlling servomotors in real time. Firstly, it presents the architecture of the control system. The main part discusses two basic types of control curves: (a) trapezoid and (b) S-curve. It compares the main parameters and features for both types and presents the real examples of the control curves both in position and velocity axes. The last part of the article briefly shows applications of authors in which the control curves are being presently used.