• 제어로봇시스템학회논문지
• /
• 제12권10호
• /
• pp.1012-1017
• /
• 2006

By breaking the symmetry of the velocity profile in the S-curve, we developed a fast starting and smooth ending motion profile, named asymmetric S-curve(AS-curve). The problem for generating motion profile is formulated, and the algorithm for the AS-curve is derived and the flow chart of the AS-curve is illustrated. By various simulations, the derived algorithm is tested and shows the validity. This AS-curve can be applied to the high precision machines where fast and vibrationless motion is required in the near future.