Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 29, Issue 2, Pages 444-453Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2012.09.014
Keywords
Trajectory planning; Jerk; FIR filter; Residual vibration; Time-varying vibration
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Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines-tools 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. (C) 2012 Elsevier Ltd. All rights reserved.
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