Design and Analysis of Simple Motion Trajectories for Residual Vibration Suppression of Industrial Machines

摘要

Due to material elasticity of components, undesired vibration often occurs in industrial machines. Many studies address this problem by presenting vibration suppressing feedback control methods. However, if a subsidiary velocity control is already implemented, the operator can only assign limited desired trajectories. In particular, simple velocity profiles such as a trapezoidal velocity profile (TVP) are widely used. This study presents several designs and analytical results on simple motion trajectories by extending one of author's results on a residual vibration suppression condition (VSC): (1) Extension to a trapezoidal acceleration profile with the VSC. (2) Considering a superposition of two time-shifted TVPs which cancel out each other's vibration. Since all the above presented velocity profiles are derived from the linear system, an extensive investigation of the robustness to vibration frequency and damping coefficient variance is carried out. The velocity profiles are experimentally applied to a planar 3R manipulator with a subsidiary servo controller to demonstrate the effectiveness.