Influence of the motion profile on the performance of a flexible arm

Mejerbi, Marouen; Knani, Jilani

doi:10.1109/cadiag.2017.8075634

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…In this section, we apply a motion profile as an input to the system (22), as it is proved in [15] the fifth-polynomial profile can provide smooth movement to the single-link flexible arm. This movement is called a minimum-jerk movement, jerk meaning the derivative of acceleration.…”

Section: Results and Analysismentioning

confidence: 99%

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

Mejerbi¹,

Zribi²,

Knani³

2017

ijacsa

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Abstract-This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into a finite number of elements to model the deformation. The iterative learning control scheme can be used to achieve perfect tracking throughout the movement period, a sufficient condition based on the bounded real lemma that guarantees the convergence error between iteration is given. All the results are presented in terms of linear matrix inequalities synthesis (LMIs).

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Section: Results and Analysismentioning

confidence: 99%

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

Mejerbi¹,

Zribi²,

Knani³

2017

ijacsa

Self Cite

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“…With constant movement phases, it is possible to generate smooth trajectories that reduce mechanical wear and aggressive current peaks to improve movements' precision [7,8]. So, motion profiles are focused on obtaining a function of time, which returns at each instant the position that the mechanical system must follow [9]. Constantly it is sought to have at least continuous acceleration [10], since discontinuities in acceleration, such as in a trapezoidal profile, can cause the jerk to be too large and residual vibrations are generated [11], which, in addition to affecting the precision of the movement, also degrade valuable life of the mechanical system [12].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

Olmedo-García,

García-Martínez,

Cruz-Miguel

et al. 2023

Electronics

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This paper discusses the energy consumption of three parabolic, trapezoidal, and S-curve profiles when implemented using an embedded system. In addition, it presents an alternative methodology for implementing motion controllers using an Advanced RISC Machine (ARM) microcontroller, which computes the trajectory and performs the control action in hard real-time. We experimented using a linear plant composed of a direct current (DC) motor coupled to an endless screw where a carriage was mounted. It can move mechanically along a rail at a distance of 1.16 m. A 4096 pulses per revolution (PPR) encoder was connected to the motor to calculate position and angular velocity. A Hall-effect-based current sensor was used to assess energy consumption. We conducted 40 tests for each profile to compare the energy consumption for the three motion profiles, considering cases with and without load on the carriage. We determined that the parabolic profile provides 22.19% lower energy consumption than the other profiles considered in this study, whereas the S-curve profile exhibited the highest energy consumption.

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An optimized cosine jerk motion profile with higher efficiency and flexibility

Zhu

Jin

Zhu

2022

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Purpose The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper. Design/methodology/approach A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model is created to assess the motion efficiency and flexibility of the motion profiles with the proposed acc/dec algorithm. Findings Considering the flexibility of trigonometric motion profiles and the higher motion efficiency of S-curve motion profiles, the authors add the polynomial parts into the jerk profile of the cosine function acc/dec algorithm to hold the jerk when it reaches the maximum so that the motion efficiency can increase and decrease residual vibration at the same time. And the cyclical parameter k shows the decisive factor for the flexibility of trigonometric motion profiles. Originality/value Comparing with the traditional motion profiles, the proposed motion profiles have higher motion efficiency and excite less residual vibration. The acc/dec algorithm proposed in this paper is useful for the present motion control and servo system.

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Influence of the motion profile on the performance of a flexible arm

Cited by 6 publications

References 7 publications

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

Dynamic Modelling of Flexible Manipulator based on a Large Number of Finite Elements

Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

An optimized cosine jerk motion profile with higher efficiency and flexibility

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