SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
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Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems
Naoki UCHIYAMAShigenori SANOKazushige HANEDA
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2015 Volume 8 Issue 3 Pages 195-200

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Abstract

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.

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© 2015 The Society of Instrument and Control Engineers
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