Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 14, Issue 2, Pages 264-269Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2008.2012160
Keywords
Dynamics; motion control; motion planning; vibration control
Categories
Funding
- Singapore Institute of Manufacturing Technology
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Precision positioning machines are required to run with higher speed and higher accuracy. The high rooming speed can cause strong excitations on the machine structure, which results in severe structure vibration and long settling time. This paper presents a low-vibration motion profile generation method to reduce the residual vibration. The acceleration profile is designed by using a level-shifted sinusoidal waveform to have an s-shape in order to control its change rate. Simulation and experimental studies showed that in comparison with conventional trapezoidal profile and s-curve profile, the residual vibration by using the proposed motion profile can be reduced significantly.
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