@inproceedings{836b810220b84bd4942807f9c6171b0d,
title = "Closed-Form Solution for Time Optimisation of Single-Axis Multi-Point Motion",
abstract = "This paper presents an in-depth study of the S-curve model. Under the constraints of system bandwidth, an efficient and accurate closed-form solution is proposed for the time-optimisation problem of a single actuator passing through multiple position points. In this method, the multi-point motion problem is transformed into a monotonic interval motion problem, and different motion equations are derived according to different motion conditions. Finally, the splicing and matching of acceleration between different intervals are completed through a backtracking mechanism. Since a closed-form solution formula is provided, the entire process of this method is efficient and accurate. This study not only provides a new idea and feasible solution for single-axis multi-point motion, but also contributes an important theoretical derivation to the body of research based on the S-curve model.",
keywords = "Close form, Motion control, Multi-point, S-curve, Time Optimal",
author = "Wang, {Shan Da} and Luo Xiao and Luo, {Qing Sheng} and Han, {Bao Ling}",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020 ; Conference date: 19-09-2020 Through 20-09-2020",
year = "2020",
month = sep,
doi = "10.1109/CACRE50138.2020.9230315",
language = "English",
series = "Proceedings - 5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "256--267",
editor = "Fumin Zhang and Lu Liu",
booktitle = "Proceedings - 5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020",
address = "United States",
}