Abstract
The paper proposes a motion profile based on the curiosity-driven hypothesis of elliptic jerk and investigates its features. This approach is kinematic, since the dynamic model of the system is not considered, and the motion law is directly defined in terms of velocity, acceleration and jerk; consequently, this method is suitable for real-time implementation, without off-line optimization. The main features of the profile are presented, then it is compared to other motion laws (cycloidal, trapezoidal velocity, trapezoidal acceleration, sinusoidal jerk, modified sinusoidal jerk) from a kinematic point of view, with a dimensionless approach for the sake of generality. Then the comparison is extended considering a dynamic case study, evaluating the residual vibrations induced to a second-order linear system.
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