Fundamental verification of positioning command design method based on analyzed residual vibration amplitude

Abstract

The purpose of this study is to verify a novel acceleration and deceleration design method to suppress the residual vibration after positioning motions. In this study, a method to suppress vibration by appropriately designing jerk changes during acceleration and deceleration is proposed. To design the jerk changing, the amplitude map which can represents the relationships between the acceleration parameters and estimated amplitude of the vibration. The proposed method realizes to suppress the vibration amplitude without changing of the total positioning time. In order to verify the effectiveness of the method, an experimental set-up consists of a motor and torsion beam is developed. As the results of the verification, it is confirmed that the influence of the design parameter of the positional command can adequately be predicted by the amplitude map, and the designed command can effectively suppress the residual vibration.