Robotic manipulators are widely used in different sectors of industry. Due to material elasticity of its components, vibration often occurs, which can increase cycle time, mechanical wear and energy consumption. We provide analytic conditions for the acceleration time of a trapezoidal and S-curve velocity profile for suppressing residual vibration. Based on this, we present several trajectories which improve the vibration suppression performance For the derivation, we introduce a simple linear model for describing the vibration of the robotic manipulator. The applicability is investigated by evaluating the robustness of the velocity profiles. We verify the effectiveness of the proposed profiles by application to a planar 3R manipulator. The residual vibration is reduced by around 50 % for the trapezoidal velocity profile and by over 90 % for the extended profiles.
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