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Minimum-time system-inversion-based motion planning for residual vibration reduction

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2 Author(s)
A. Piazzi ; Dipt. di Ingegneria dell'Inf., Parma Univ., Italy ; A. Visioli

In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems. The idea is to define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; then, by means of a noncausal system inversion, the command function of the system is determined with a continuous derivative of an arbitrary order. A procedure that minimizes the duration of the movement, taking into account actuator constraints, can then be performed. Comparisons with the well-known input shaping techniques have been performed via both a simulation example and an experimental setup. The proposed method, which is inherently robust to modeling errors, emerges as a very flexible and competitive technique

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:5 ,  Issue: 1 )