A New S-curve Acceleration/Deceleration Control Considering Displacement Conditions

A new S-curve acceleration/deceleration control method based on an acceleration curve amplitude-period self-adaptive adjustment strategy is proposed to address the problem that the traditional S-curve acceleration/deceleration control method is difficult to handle small displacement input, taking into account the actual displacement conditions of the robot. The method sets the critical displacement as the control variable and ensures that the robot can reach the maximum velocity and acceleration when the actual displacement is greater than or equal to the critical displacement; when the actual displacement is less than the critical displacement, the self-adaptive adjustment of the maximum velocity and acceleration is achieved by introducing the synchronous proportional coefficient to complete the secondary planning of the acceleration/deceleration curves. The motion model of the self-developed six-axes serial industrial robot GREE GR20 is used as the experimental carrier to test the new S-curve acceleration/deceleration control method. The test results show that the new S-curve acceleration/deceleration control can effectively solve the problem that the traditional S-curve acceleration/deceleration control has difficulty in calculating the maximum value of motion parameters and completing acceleration/deceleration planning when dealing with small displacements.