2009
DOI: 10.1016/j.ijmachtools.2009.01.008
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A practically efficient method for motion control based on asymmetric velocity profile

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Cited by 33 publications
(18 citation statements)
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“…As previously reported in various literatures [1][2][3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper.…”
mentioning
confidence: 72%
“…As previously reported in various literatures [1][2][3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper.…”
mentioning
confidence: 72%
“…In our case, S-shaped velocity profile applied to quay crane spreader to control the oscillation of cargo which is flexible connected by cables. The smoothness of trolley was improved as well as Keun-Ho Rew (Rew et al 2009), however the residual oscillation still remains.…”
Section: Experiments and Resultsmentioning
confidence: 99%
“…A complicated crane system where the cargo is suspended by cables, may cause the results. The scientific Keun-Ho Rew (Rew et al 2009) S-shaped velocity profile applied to the robot manipulator to control a rigid beam which is made of stainless steel. In our case, S-shaped velocity profile applied to quay crane spreader to control the oscillation of cargo which is flexible connected by cables.…”
Section: Experiments and Resultsmentioning
confidence: 99%
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“…비대칭 S-curve는 출발할 때에는 빠른 속도, 가속도, 저크(jerk)를 허용하고, 도착할 때는 느린 속도, 가속도 및 저크가 되도록 하여 출발할 때는 고속성을 꾀하고 도착할 때에는 저크를 임의로 낮춰 잔류진동을 크게 줄일 수 있을 뿐 아니라 시간적 효율성을 동시에 얻을 수 있다는 장 점이 있다 [9]. 기존 연구를 살펴보면, 부드러운 모션 프로파일을 생성하 기 위해 여러 설계 방법론들은 많이 연구 되었지만, 잔류진 동을 저감하기 위한 모션 프로파일 튜닝 방법론에 대해서는 연구가 미진하다 [10][11][12] [12]. Fig.…”
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