scholarly journals Minimum-time system-inversion-based motion planning for residual vibration reduction

2000 ◽  
Vol 5 (1) ◽  
pp. 12-22 ◽  
Author(s):  
A. Piazzi ◽  
A. Visioli
Keyword(s):  
Motion Planning ◽  
Vibration Reduction ◽  
Minimum Time ◽  
Residual Vibration ◽  
Time System ◽  
System Inversion

scholarly journals Improving Intersample Behavior in Discrete-Time System Inversion: With Application to LTI and LPTV Systems

2020 ◽  
Vol 25 (1) ◽  
pp. 55-65
Author(s):  
Jurgen van Zundert ◽  
Wataru Ohnishi ◽  
Hiroshi Fujimoto ◽  
Tom Oomen
Keyword(s):  
Discrete Time ◽  
Discrete Time System ◽  
Time System ◽  
System Inversion

Friction-Compensating Command Shaping for Vibration Reduction

2004 ◽  
Vol 127 (4) ◽  
pp. 307-314 ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose ◽  
Keith Hekman
Keyword(s):  
Steady State ◽  
Coulomb Friction ◽  
Vibration Reduction ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Point Motion ◽  
Common Operation ◽  
Point To Point ◽  
Theoretical Developments

Fast and accurate point-to-point motion is a common operation for industrial machines, but vibration will frequently corrupt such motion. This paper develops commands that can move machines without vibration, even in the presence of Coulomb friction. Previous studies have shown that input shaping can be used on linear systems to produce point-to-point motion with no residual vibration. This paper extends command-shaping theory to nonlinear systems, specifically systems with Coulomb friction. This idea is applied to a PD-controlled mass with Coulomb friction to ground. The theoretical developments are experimentally verified on a solder cell machine. The results show that the new commands allow the proportional gain to be increased, resulting in reduced rise time, settling time, and steady-state error.

scholarly journals Motion Planning of Kinematically Redundant Adaptive Truss. Use of Redundancy for Vibration Reduction.

1998 ◽  
Vol 41 (4) ◽  
pp. 852-859
Author(s):  
Kazuyuki HANAHARA ◽  
Yoshihiko SUGIYAMA ◽  
Masao TANAKA
Keyword(s):  
Motion Planning ◽  
Vibration Reduction
Sign in / Sign up

Export Citation Format

Share Document