Minimum-time system-inversion-based motion planning for residual vibration reduction
نویسندگان
چکیده
منابع مشابه
Minimum-Time System-Inversion-Based Motion Planning for Residual Vibration Reduction
In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems. The idea is to define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; then, by means of a noncausal system inversion, the command function of the system is determined with a continu...
متن کاملNear-Minimum-Time Motion Planning of Manipulators along Specified Path
The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
متن کاملnear-minimum-time motion planning of manipulators along specified path
the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...
متن کاملIterative Feedforward Tuning for Residual Vibration Reduction
An iterative approach for the determination of an input-output inversion feedforward control law for residual vibration reduction is proposed in this paper. In particular, point-topoint motion planning of vibratory servosystems is considered. The method aims at estimating recursively the parameters of the system in order to determine the exact command input to be applied to the control system i...
متن کاملMinimum Constraint Displacement Motion Planning
This paper formulates a new minimum constraint displacement (MCD) motion planning problem in which the goal is to minimize the amount by which constraints must be displaced in order to yield a feasible path. It presents a sampling-based planner that asymptotically approaches the globally optimal solution as more time is spent planning. Key developments are efficient data structures that allow t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2000
ISSN: 1083-4435
DOI: 10.1109/3516.828585