New Damped-Jerk trajectory for vibration reduction
Article dans une revue avec comité de lecture
Author
BEAREE, RichardAbstract
This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems. Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration.
Files in this item
Related items
Showing items related by title, author, creator and subject.
-
Article dans une revue avec comité de lecture(IEEE, 2018)Considering a set of robotic tasks which involve physical interaction with the environment, the theoretical knowledge of the full force capacity of the manipulator is a key factor in the design or development of an efficient ...
-
Communication avec acte(2016)This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited ...
-
Article dans une revue avec comité de lecture(Institute of Electrical and Electronics Engineers (IEEE), 2021)Redundancy in robotic manipulators has many advantages. It is successfully used to achieve better dexterity, and to avoid obstacles, singularities, or the kinematic limitations. However, redundancy makes the inverse ...
-
Communication avec acte(Springer International Publishing, 2021)This communication aims to present a cross-perspective – robotics, industrial engineering, sociology and ergonomics – research project experience dealing with development of collaborative robotics in SMEs. Our conviction ...
-
Communication avec acte(2013)This paper presents a new powder transportation system that uses a high frequency flexural stationary wave coupled with a low frequency horizontal displacement of a beam to produce the transport of the powder. The ultrasonic ...