Motion Programs with Better Characteristic Values

Abstract

Motion characteristics are dimensionless peak values of velocity, acceleration, jerk, and acceleration multiplied by velocity of a motion program. In general, these peak values of a synthesized motion program should be as low as possible. Some trigonometric motion programs are widely used since they have a good compromise of all motion characteristics. A property in common for trigonometric motion programs is that their acceleration functions can be expressed as a qualitative shape of a sinusoidal function. The interval of the sinusoidal function is divided into several zones having different linear slopes. The acceleration function can be easily shaped by specifying presented phase angle function to synthesize desired motion programs. To improve kinematic quantities of trigonometric motion programs, this paper proposes an alternative phase angle function to obtain synthesized motion programs with a simultaneous reduction in all the characteristic values. The synthesis process and results are illustrated by examples.