Optimization of Generalized S-Curve Trajectories for Residual Vibration Suppression and Compliance With Kinematic Bounds

نویسندگان

چکیده

This article proposes a new optimization algorithm that assures the minimum possible duration of generalized S-curve trajectories compliant with kinematic limitations and capable suppressing residual vibrations when tracked by resonant plant. Thanks to possibility generating such kind chain filters, called smoothers, each one characterized single parameter, i.e., $T_i$ its impulse response, process aims at minimizing order trajectory, accordingly number smoothers in chain, leads rest-to-rest that, under given specifications, cannot be made shorter time. Therefore, structure trajectory is not predetermined but outcome proposed together optimal parameters defining it. The effectiveness approach proven applying designed an experimental setup based on flexible link.

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ژورنال

عنوان ژورنال: IEEE-ASME Transactions on Mechatronics

سال: 2021

ISSN: ['1941-014X', '1083-4435']

DOI: https://doi.org/10.1109/tmech.2020.3045504