Abstract: “In this paper we consider design of an electromechanical positioning system with a controlled jerk. A system that is formed from a load and an actuating device is used as an object. For the proposed sinusoidal change of the jerk, the appropriate changes of the acceleration, velocity and displacement were found. The algorithm which ensures the motion of the object with prespecified jerk so that the requirements which are related to the maximum values of the acceleration, velocity and displacement are satisfied, is also proposed. The feedforward and feedback controllers that are realized this algorithm are designed. Furthermore the simulation of that system is performed, which is confirmed the proposed theory.”

Keywords: positioning system, trajectory planning, feedback and feedforward design, controlled jerk