An improved S-curve motion profile with local input shaping for vibration suppression in robotic systems

This paper presents an improved S-curve motion profile to address vibration issues in industrial robots. While numerous studies have optimized motion commands based on the S-curve feedrate profile for vibration suppression, their performance in damped systems has often been suboptimal. To this end, the proposed profile integrates an improved S-curve feedrate motion with local input shaping to accelerate vibration attenuation. The design method is also introduced to minimize its total motion time. Compared with the optimized S-curve, and the time-optimal smooth S-curve, the proposed method based on the improved S-curve possesses superior vibration suppression capability. Furthermore, the improved S-curve achieves this with less time delay than the optimized smooth S-curve. Experimental validations on a serial industrial robot and a gantry platform confirm the practical effectiveness of the proposed motion profile in reducing vibrations, supporting its applicability in robotic systems.