10/6/2020 How to reduce jerk in linear motion systems

Search this website

NEW APPLICATIONS SLIDES + GUIDES DRIVES ACTUATORS

ENCODERS + SENSORS (LINEAR) + I/O STAGES + GANTRIES SUPPLIERS

How to reduce jerk in linear motion

systems
MAY 2, 2017 BY DANIELLE COLLINS — 2 COMMENTS

The most common move pro les for linear motion systems are trapezoidal and triangular. In a
trapezoidal move pro le, the system accelerates from zero to its maximum speed, travels at
that speed for a speci ed time (or distance), and then decelerates to zero. Conversely, the
triangular move pro le accelerates from zero to maximum speed and then immediately
decelerates back to zero, with no constant velocity (i.e. all the move time is spent accelerating
or decelerating).

But in reality, neither of these move pro les is particularly ideal for motion systems—especially
those that require smooth travel, high positioning accuracy, or stability at the end of the move.
This is because the process of accelerating and decelerating leads to a phenomenon known
as jerk.

Just as acceleration is the rate of change (derivative) of velocity, jerk is the rate of change of
acceleration. In other words, jerk is the rate at which acceleration is increasing or
decreasing. Jerk is generally undesirable because it creates—you guessed it—abrupt, jerky
motion. In industrial applications such as machine tools, SCARA robots, and dispensing
systems, a rapid change in acceleration—i.e. jerk—causes the system to vibrate. The higher the

https://www.linearmotiontips.com/how-to-reduce-jerk-in-linear-motion-systems/ 1/8
10/6/2020 How to reduce jerk in linear motion systems

jerk, the stronger the vibrations. And vibrations decrease positioning accuracy while increasing
settling time.

A trapezoidal move pro le requires (theoretically) instant

acceleration, which leads to (theoretically) in nite jerk.
Image credit: Parker Hanni n Corporation

A quick calculus refresher 

Velocity is the derivative of displacement (distance).

Acceleration is the derivative of velocity, making it the second derivative of displacement. 

Jerk is the derivative of acceleration, making it the third derivative of displacement.

The way to avoid jerk is to reduce the rate of acceleration or deceleration. In motion control
systems, this is done by using an S-curve motion pro le, instead of the “jerky” trapezoidal
pro le. In a trapezoidal move pro le, acceleration occurs instantly (at least in theory) and jerk is
in nite. To reduce the amount of jerk generated during the move, the transitions at the
beginning and end of acceleration and deceleration are smoothed into an “S” shape. The
resulting pro le is referred to as an S-curve move pro le.

If we plot the acceleration pro le for a trapezoidal move (see above), we’ll see that it is a step
function—that is, acceleration goes from zero to its maximum instantaneously, and
deceleration goes from maximum to zero instantaneously. In an S-curve move, the
acceleration pro le becomes trapezoidal in shape, and acceleration and deceleration occur in
a smooth manner, rather than instantly and abruptly.

https://www.linearmotiontips.com/how-to-reduce-jerk-in-linear-motion-systems/ 2/8
10/6/2020 How to reduce jerk in linear motion systems

An S-curve move pro le allows acceleration to increase (and

decrease) over time, which reduces jerk.
Image credit: Parker Hanni n Corporation

The S-curve pro le is based on a third-order system, making the motion equations for
acceleration, velocity, and distance (displacement) more complex than those for trapezoidal
move pro les.

For an S-curve move pro le:

The tradeo of using an S-curve versus a trapezoidal move pro le is that the overall time for
the move is longer with an S-curve pro le. This is because ramping acceleration (and
deceleration) takes longer than the instantaneous acceleration of a trapezoidal move.
However, the time advantage gained by using a trapezoidal move pro le may be negated by a
longer settling time, due to vibrations induced by high levels of jerk. And because jerk puts
extensive strain on mechanical components, even if a trapezoidal move is used as the basis,
some amount of smoothing is typically applied to the acceleration and deceleration
phases, making the move pro le more S-shaped.

Fun Fact
The fourth derivative of displacement is known as snap (although it is sometimes referred to as
jounce), and the fth and sixth derivatives of displacement are known as crackle and pop.

https://www.linearmotiontips.com/how-to-reduce-jerk-in-linear-motion-systems/ 3/8
10/6/2020 How to reduce jerk in linear motion systems

Image credit: Kellogg NA Co.

Feature image credit: Adept Technology, Inc.

You may also like:

Servo motor How to How to Three factors Inertia

or stepper calculate calculate critical to Matching:
motor? How to velocity from motor drive servo motor Why Perfect
choose triangular and torque for ball sizing for Isn’t Always
trapezoidal screws linear motion… Best
move pro les

FILED UNDER: CONTROLS FOR LINEAR AXES, FAQS + BASICS, FEATURED

Comments

katz yaakov says

NOVEMBER 4, 2019 AT 1:26 AM

thanks alot for yours very detail explain

but i have one questio
i use simple controller (mach4) that not support the S curve
if i want manage this S curve by my self but not as smooth ,for exmpe just divide the accl
dccl to 2 or 3 steps and change in the nc le,divide the path at begin and end and give that
smal segment onthe accl dccl
do you think its can help?
or because its still have sharp places between the accl and nal speed ,its not useful?
thanks

https://www.linearmotiontips.com/how-to-reduce-jerk-in-linear-motion-systems/ 4/8