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http://dx.doi.org/10.5302/J.ICROS.2012.18.4.308

Zero Placement of the Asymmetric S-curve Profile to Minimize the Residual Vibration  

Ha, Chang-Wan (Department of Mechanical Engineering, KAIST)
Rew, Keun-Ho (Department of Robotics Engineering, Hoseo University)
Kim, Kyung-Soo (Department of Mechanical Engineering, KAIST)
Kim, Soo-Hyun (Department of Mechanical Engineering, KAIST)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.4, 2012 , pp. 308-313 More about this Journal
Abstract
Robust tuning rules of the motion profile are proposed to minimize the residual vibration. For asymmetric S-curve profile, tuning rules are analytically formulated using Laplace-domain approach. When the system modeling is known exactly, by placing a single zero of the motion profile on the pole of the system, the residual vibration can be perfectly eliminated under undamped system. However, if there are some amounts of the modeling errors, the residual vibration significantly increases. To track this issue, the robust tuning rules against modeling error are discussed. One of the proposed robust tuning rules is placing the multiple zeros of the motion profile on the pole of the system, and the other is placing the zeros of the motion profile around the pole of the system. Thanks to the proposed robust tuning rules, motion profile becomes more robust to modeling errors while minimizing the residual vibration. By simulation, the effectiveness of the proposed robust tuning rules is verified.
Keywords
motion profile; asymmetric S-curve; residual vibration; robustness; sensitivity;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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