New Damped-Jerk trajectory for vibration reduction
نویسندگان
چکیده
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 DampedJerk 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 DampedJerk profile to reduce damped vibration.
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