Influence of a Jerk Controlled Movement Law on the Vibratory Behaviour of High-Dynamics Systems

Feedrate planning for machining with industrial six-axis robots

“…As demonstrated in (Barre et al 2005 shows the residual vibration of the end-effector resulting from a simple rotation of the first joint around Z axis of world frame. In this configuration, the flexibility of the first joint induced a flexural motion of the end-effector associated to a modal frequency near 6 Hz.…”

Dissociated jerk-limited trajectory applied to time-varying vibration reduction

“…It is known that compared to acceleration-limited profile, jerk-limited profile can reduce vibrations and in some cases can totally suppress residual vibration [13]. Such a profile can be seen as a sum of time delayed impulses convolved with a jerk step.…”

“…In [13,14] authors experimentally demonstrate that for a JL profile, the maximum jerk value, or is corollary the jerk time, can be specified to significantly reduce residual vibrations magnitude for system submitted to a lightly damped stationary mode. Now, considering systems with timevarying mode, which is classically the case for configuration dependent mode or load mass variations, the robustness of the JL profile is not sufficient to ensure vibration-free positioning.…”

Numerical Aspects and Performances of Trajectory Planning Methods of Flexible Axes

“…for a square sine [2] profile ( τ = T f ω/2π; T f is the motion duration,x re f is the target position). In practice, the error is significantly reduced for a movement of duration superior to 4 times the natural period.…”

“…In practice, classical servo control fails to reduce vibrations, which, in many cases, restrains the operating speed [1]. The only way to damp the oscillations consists of designing proper smooth reference trajectories, which should be however as fast as possible [2]. Many methods have been introduced using the inversion motion equations or a combination of smooth trigonometric or polynomial functions, e.g.…”