A discretion algorithm of S-curve acceleration and deceleration

A new method of sampled-data S-curve acceleration/deceleration for industrial robots and CNC machine tools was put forward, which can deal with the low velocity zone called "tail" in a deceleration zone. The equations of acceleration and deceleration were detailed, which improved the productivity by avoiding the calculation of the deceleration point at every sampled time. According to the distance of the trajectory, the trajectory can be divided into normal block, short block I type and short block II type. Aiming at each block, the equations of distance, acceleration, velocity and Jerk were given and the discrete equation of each method was presented. We have implemented our algorithm in both simulation environment and real CNC systems and conducted a series of experiments. The experimental results demonstrate that the proposed method is effective.