Fifth order trajectory planning for reducing residual vibration

In order to attain a rapid and precise motion for modern manufacturing, a fifth order S-curve trajectory planning method is proposed in this paper for the reduction of vibration and positioning error. The analytical time-optimal solution of the trajectory parameters is derived to ensure an efficient implementation and all possible profile instances are considered. This algorithm shortens the computation time compared to the conventional algorithm. The effectiveness and reliability of the presented approach is verified by the numerical simulations.