Dissociated jerk-limited trajectory applied to time-varying vibration reduction

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 variations, the previous result vanishes. This paper proposes to extend the jerk-limited profile (JL) properties to time-varying vibration problem. First, a guideline for designing a dissociated jerk-limited profile (DJL) based on simple and pragmatic Finite Impulse Response (FIR) filtering methodology is presented. Following the guideline, the time-varying vibration reduction principle is detailed. Then, experiments conducted on an industrial 3-axes Cartesian manipulator are presented. The experimental results show that the residual vibration magnitude is reduced to less than 23% of the original level obtained with JL profile and the settling time is reduced by 10%, demonstrating the efficiency of the proposed DJL trajectory planning.