Abstract
Smoothness of the reference motion trajectories carries great importance for tracking performance of CNC feed drive systems. Acceleration kinematics of conventional trajectory generators has rich frequency content. Actual feed drive system, on the other hand, contain various structural flexibilities and resonances. Thus, the reference trajectory may excite those poorly damped flexibilities, and cause residual vibrations during point-to-point motion on CNC systems. This work investigates the effect of trajectory's jerk parameters on the oscillatory behavior of drive structures. In particular, analytical formulations are derived to compute the optimal jerk parameter of the reference trajectory so that resonances in the feed drive system are not excited. It was shown that that by tuning the jerk time, damping of resonances could be achieved.
