Motion profile planning for reduced jerk and vibration residuals

Jerk limitation for a motion stage is im- portant to suppress transient vibration and to reduce the settling time. This paper presents a novel motion control method which aims to reduce jerk and tran- sient vibration for linear motion stages. In this ap- proach, the acceleration profile is designed to obtain a smoother movement without any abrupt corner. The velocity and the displacement profiles are calculated by integration. To implement the proposed motion profile on a DSP-based motion controller, a table look-up and linear interpolation method is used to relieve the calculation burden to the DSP controller in real-time. A voice coil motor driving motion stage with a fixed-point DSP controller is used as the test- bed, where a point-to-point linear motion task is de- signed and implemented to test the proposed motion profile. Experimental results have shown that by using the new profile, the motion induced vibration on the stage frame can be greatly reduced.

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