Quantifying Smoothness?

[LarryW]

We are designing an underwater robotic manipulator. The system will be man rated (ie. a suited subject will be positioned on the end of this arm). Part of our requirements states that the joints should provide smooth and continuous motion. <br>
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We need to be able to quantify smoothness. On our test stand we have angular position feedback for the joint being tested. Currently we are deriving velocity, acceleration, and jerk from this data.<br>
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I am of the understanding that jerk (rate of change of acceleration) is what is primaraly responsible for passenger discomfort on elevators and such. <br>
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Because of the workings of the joint we have some 'interuptions' that cause 'bumps' in the motion. Our main concern is these areas.<br>
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I was wondering if any other industries (man-lifts, elevators, automotive, etc.) have values for acceleration and jerk as it relates to passenger comfort.<br>
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Also, What role does frequecy and duration play?

 

[Irwin]

Try to call Dr. Prof. Istvan Zobory! He is the Head of the Department of Railway Vehicles in TU Budapest.(In the railway technic the comfort is very important. Maybe he has got some measured data and simulations.)<br>
Tel.: +36 1 463 1619<br>
e-mail: zobory@jgi.bme.hu <br>
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Irwin<br>