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Vibration Suppression Control for Mechanical Transfer Systems by Jerk Reduction  

Hoshijima, Kohta (Daihen Corporation)
Ikeda, Masao (Department of Mechanical Engineering, Osaka University)
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.6, 2007 , pp. 614-620 More about this Journal
Abstract
This paper considers vibration suppression of a mechanical transfer system, where the work is connected with the hand flexibly. We adopt the idea of jerk reduction of the hand. From the equation of motion, we first derive a state equation including the jerk and acceleration of the hand, but excluding the displacement and velocity of the work. Then, we design optimal state feedback for a suitable cost function, and show by simulation that jerk reduction of the hand is effective for vibration suppression of the work and improvement of the settling time. Since state feedback including the jerk and acceleration is not practical, we propose a computation method for optimal feedback using displacements and velocities in the state only.
Keywords
Jerk reduction; mechanical transfer system; motion control; optimal control; vibration control;
Citations & Related Records

Times Cited By Web Of Science : 3  (Related Records In Web of Science)
Times Cited By SCOPUS : 4
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