Vibration Suppression By Trajectory Shaping Using Walsh Function

Abstract

This paper proposes a simple vibration suppression control for positioning mechanism with flexibility, especially of multiple degrees of freedom. Reference trajectories are firstly expressed as finite Walsh series and then the coefficients are determined to satisfy frequency condition, boundary conditions, and maximum velocity and acceleration conditions. The proposed method works well comparing with existing suppression vibration methods, and can be implemented with position control of pulse-train input.