New Damped-Jerk trajectory for vibration reduction
نویسندگان
چکیده
منابع مشابه
New Damped-Jerk trajectory for vibration reduction
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...
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Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machinestools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual vibration induced by a lightly damped stationary mode. However, for systems with time-varying mode, which is classically the case for configuration dependent mode or load mass...
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The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while minimizing the jerk of the joints trajectories. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, no contraintes on the accelerations or the jerk of the obtained trajectories can ...
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Step response is widely used as the performance index of controlled systems. Thus, the ideal system would be one that has an output which approaches to the step signal quickly without error or over-shoot. However, if the output of an actual plant converges to the reference signal in a very short period, it can be dangerous to the surrounding environment as well as the operators. Furthermore, th...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2014
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2014.03.010