New Damped-Jerk trajectory for vibration reduction

Abstract

This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems.Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration.International audienceThis paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems.Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration

Cosine‐Trapezoidal Soft‐Starting Control Strategy for a Belt Conveyor

“…The ideal starting process of the belt conveyor should ensure a smooth continuous acceleration and its maximum value is small to reduce the jolting impact of the motor on the belt conveyor. That is, the maximum jerk must be kept within a reasonable range to ensure a soft impact of motor on the belt conveyor [1][2][3][4][5][6]. Hence the speed curve should be S-shaped and the output smooth [7][8][9][10].…”

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

“…The jerk limited control profile is effective to reduce the excitation of the flexible modes. This profile ability to cancel undamped vibrations is first addressed (Béarée 2014).…”

“…External disturbances such as wind, weather or operator actions can easily initiate an oscillation (Elbadawy, Shehata 2015). This unavoidable cargo oscillations (Béarée 2014). The jerk-limited integration into the trapezoidal velocity profile gives us the symmetric or asymmetric s-shaped velocity profile.…”

Reducing the Frame Vibration of Delta Robot in Pick and Place Application: An Acceleration Profile Optimization Approach

“…A detailed discussion on the jerk-limited acceleration profile can be found in [12,26]. Besides the symmetric profile, there are also many variations such as the asymmetric acceleration profile in [27].…”

“…Zhang and Wang study the trajectory planning and optimization method to obtain smoother and more efficient trajectories for Delta robot [10,11]. Béarée introduces input shaping technique into the jerk-limited profile, derives the damped-jerk profile to cancel the residual vibration of an undamped system, and proposes several practical tuning rules for the equivalent input filter parameters [12]. The dominating flexible mode analysis closely relates to system physical parameters; therefore, it is difficult to apply in the vibration suspension problem of Delta robot and frame.…”