Abstract
This paper describes a method of trajectory planning and parameters adjustment on the nonlinear AC servo systems and a practical analysis method for complicated linkage mechanism using vector method. The servo systems have nonlinearity like non-uniform movement in the cases of many. Because of the nonlinearities in the linkage mechanism, the servo systems generate the motor torque fluctuation. We proposed a method of adjusting the parameter which can be set up. Furthermore, we investigated and evaluated the torque fluctuation and the cycle time shortening by simulation.
