S-curve Velocity Planning For Both Single-Degree-of-Freedom (SDOF) and Five-Degree-of-Freedom (5-DOF) Robotic Arm Systems

Robotics has become increasingly prevalent across diverse domains, offering enhanced efficiency and convenience through robotic technologies. Consequently, the investigation of motion planning and control strategies for robotic arms has emerged as a research focus in robotics. This paper presents a comprehensive study and implementation of motion control methodology based on S-curve velocity planning for both single-degree-of-freedom (SDOF) and five-degree-of-freedom (5-DOF) robotic arm systems. The S-curve velocity planning divides motion into three phases: acceleration, constant velocity and deceleration stages. This segmentation effectively minimizes acceleration mutation, thereby facilitating smooth transitional movements of robotic arm and significantly reducing damage to robotic arm due to system vibration and shock. For the SDOF system, this paper meticulously derives the mathematical framework of S-curve velocity planning, accompanied by analyses of velocity, acceleration and jerk curve. Simulation results validate the method's superior motion smoothness characteristics compared to conventional approaches. For the 5-DOF system, the study extends S-curve velocity planning by introducing a coordinated velocity planning algorithm for multi-degree-of-freedom systems. This algorithm not only individually optimizes each joint velocities but also accounts for inter-joint coupling effects. Through simulation experiments, this paper verifies the effectiveness and superiority of S-curve velocity planning in SDOF and 5-DOF robotic arm systems. The experimental results demonstrate significant improvements in motion smoothness, substantial reductions in system vibrations and shocks, while maintaining high precision in end-effector trajectory. This research contributes reliable solutions and practical insights for motion planning in both single and multi-degree-of-freedom robotic manipulators, offering substantial applicability in engineering implementations and industrial automation scenarios.