• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1012-1017
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• 2006

By breaking the symmetry of the velocity profile in the S-curve, we developed a fast starting and smooth ending motion profile, named asymmetric S-curve(AS-curve). The problem for generating motion profile is formulated, and the algorithm for the AS-curve is derived and the flow chart of the AS-curve is illustrated. By various simulations, the derived algorithm is tested and shows the validity. This AS-curve can be applied to the high precision machines where fast and vibrationless motion is required in the near future.