Mathematics for Real-Time S-Curve Profile Generator

Position control is usually achieved using a position controller and a profile generator. The motion profile generator establishes the trajectory based on reference position and imposed motion constrains, and the position controller forces the actual position to trace the generated position trajectory. The S-curves motion profile generator allows control for the maximum values of speed, acceleration and jerk. When profile position value reaches the value of final point position, the generator sends a signal to the set-point generator to move on to next desired point of motion profile, and so on. This motion profile generator will be implemented as a software sequence which is executed in real-time. The software of motion profile generator will be validated by comparison with the simulation in MATLAB for S-curve motion.