2015 Volume 8 Issue 3 Pages 195-200
This paper proposes motion-trajectory generation for mechanical systems that can be widely used in industrial applications. Many industrial systems, such as feed drive tables, gantry cranes, and material handling systems, are operated using S-curve acceleration and deceleration trajectory, and simple controllers that allow only such a simple motion trajectory are employed from the viewpoints of controller hardware and implementation cost efficiency. This study deals with simple mechanical dynamics including vibration properties and derives a necessary and sufficient condition for the motion trajectory to suppress residual vibration. Simulation and experimental results demonstrate the validity of the proposed conditions.