Trajectory Planning of Multi-dimensional Actuator based on Improved S-shaped Velocity Curve

In order to improve the smoothness of the velocity of the multi-dimensional actuator rotor output shaft and reduce the impact of sudden change of torque on the system, a trajectory planning method based on the improved Sshaped velocity curve is proposed in this paper. Firstly, according to the position information of the key points in the track of the multi-dimensional actuator, the Euler rotation angle of the point-to-point is obtained by coordinate transformation. Then, based on the parameters of S-shaped velocity curve, the corresponding acceleration equation is solved, and then the control torque is output by using point-to-point torque generation tool. Finally, Gaussian function algorithm is used to fit the output angular velocity information, which makes the velocity, acceleration and control torque of the multi-dimensional actuator trajectory change continuously. Simulation results verify the correctness of the proposed scheme.