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 continuous derivative of an arbitrary order. A procedure that minimizes the duration of the movement, taking into account actuator constraints, can then be performed. Comparisons with the well-known input shaping techniques have been performed via both a simulation example and an experimental setup. The proposed method, which is inherently robust to modeling errors, emerges as a very flexible and competitive technique.