Improve the Motion
This is a very subjective problem. A good motion for one application may not be a good motion for another.
An attempt to answer...
|•||The motion is for a machine, and not a cartoon character.|
|•||The motion is intended for a machine where the machine elements reciprocate, oscillate, index, or the speed modulates in some way.|
|•||Try to use the Flexible Polynomial Motion-Law for all of the segments in your motion. This motion-law gives you the most motion-design flexibility.|
|•||You must remove Velocity Discontinuities. |
|•||You must, in nearly every machine design circumstance, remove Acceleration Discontinuities.|
|•||Always ask yourself 'Can you reduce the number of segments?' Use a minimum number of segments. |
|•||Always ask yourself 'Can you delete the Dwell Segment?' Try to remove Dwell Segments - especially short dwells. Usually it is better to remove a Dwell segment, and give the adjacent segments zero-jerk.|
|•||Try to reduce the number of motion specifications.|
For example, you can make a motion continuous in position, but it may be possible not to specify the actual position at a Blend-Point.
|•||Try to make the peak acceleration values of each segment similar to each other, or try to give similar motion durations.|
This is not always possible or desirable. But consider balancing the motion to give similar motion durations or peak accelerations, or both.
|•||Can you reduce the distance a part is moved? |
Why select different Motion-Laws?
A motion-law might:
|•||give more flexibility for you to specify the motion-derivatives at the Blend-Points|
|•||suit the mechanical system. For example, the motion-law might have a 'low peak maximum velocity'.|
|•||give a good dynamic response to the mechanical system. For example, the motion-law might have a good response to system backlash, low drive stiffness.|
|•||agree with a company preference(!) - for example Modified Sinusoid is often a company preference.|
However, I nearly always design my motions with the Flexible-Polynomial segments as they give me almost all of the flexibility I need.