Optimization of Generalized S-Curve Trajectories for Residual Vibration Suppression and Compliance With Kinematic Bounds

This article proposes a new optimization algorithm that assures the minimum possible duration of generalized S-curve trajectories compliant with kinematic limitations and capable of suppressing residual vibrations when tracked by a resonant plant. Thanks to the possibility of generating such kind of trajectories with a chain of filters, called smoothers, each one characterized by a single paramete...