Author(s)

Maofei Liang ¹, Lingyan Zhao ¹

Affiliation(s)

¹ School of Construction Machinery, Shandong Jiaotong University, Jinan, 250000, China

Corresponding Author

Lingyan Zhao

ABSTRACT

As core equipment in intelligent manufacturing, residual vibration of robotic arms during high-speed motion directly affects positioning accuracy and service life. Focusing on vibration suppression in multi-axis robotic arms, this paper addresses the limitations of the traditional seven-segment S-curve (7S) acceleration/deceleration algorithm in jerk continuity and vibration control. Two improved seven-segment algorithms based on cosine and exponential functions are proposed to enhance vibration suppression performance by smoothing jerk transitions. Mathematical models of the traditional 7S, seven-segment cosine (7S-Cos), and seven-segment exponential (7S-Exp) algorithms are established. Experiments are conducted under practical operating conditions with a 4 kg load at full speed, using joint synchronization control to evaluate end-effector residual vibration. Results show that the 7S-Cos algorithm achieves the smallest vibration amplitude and fastest attenuation, significantly outperforming the traditional 7S and 7S-Exp algorithms while maintaining motion efficiency. The proposed method provides a practical solution for vibration-sensitive robotic applications such as precision assembly and high-speed handling.

KEYWORDS

Multi-axis robotic arm, Vibration suppression, Acceleration/deceleration curve, Seven-segment S-curve, Cosine function

CITE THIS PAPER

Maofei Liang, Lingyan Zhao, Improved Seven-Segment Acceleration/Deceleration Algorithms Based on Cosine and Exponential Functions for Vibration Suppression of Multi-Axis Robotic Arms. Journal of Engineering Mechanics and Machinery (2025) Vol. 10: 57-67. DOI: http://dx.doi.org/10.23977/jemm.2025.100207.

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Sponsors, Associates, and Links

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