Scanning/stepping motion planning for light-damping residual vibration suppression: An asymmetric acceleration S-curve method

This paper proposes an asymmetric acceleration S-curve (AAS-curve) and its planning method to minimize the residual vibration caused by the light-damping resonance peak for both stepping and scanning motions. Conventional S-curves including the symmetric S-curve (SS-curve) and the asymmetric velocity S-curve (AVS-curve) with zero-damping zeros can realize zero residual vibration in theory for the zero-damping resonance peak but fail for the light-damping resonance peak. The superiority of the AAS-curve in compensating for the light-damping resonance peak is achieved by its non-isosceles trapezoidal acceleration profile and the resultant light-damping zero. The AAS-curve is also different from the AVS-curve since it can reduce the residual vibration for not only the positioning phase but also the constant-velocity phase. Compared to the combined use of the Zero Vibration and Derivative shaper with the SS-curve (ZVD-SS-curve), the AAS-curve is able to achieve similar specific-frequency and high-frequency suppression abilities with less time consumption by properly designing the parameters. Simulation and experimental results on a two-mass motion system illustrate the effectiveness and superiorities of the AAS-curve. The proposed method is applicable to light-damping systems that require both time efficiency and residual vibration suppression during the constant-velocity and positioning phases.