Spline-based guidance with enhanced frequency robustness for the motion of flexible part handling manipulators

Robust Residual Vibration Suppression for Linear Time Invariant Systems by Digital Filtering of the Guidance Function

“…Flexible mechanical system, subjected to translational motion. 4 (Butterworth, Chebyshev type II and elliptic) for three di!erent time durations (equal to 0.2, 0.25 and 0.3 times the largest eigenperiod of the system, respectively), are presented. Although these "lters have the ability to reach cut-o!…”

“…The splines method proposed in [6], is further extended in [4] with satisfactory results, covering also several possible &alternative dynamic models' of the system, which result from variations of its nominal parameters. However, the application of this method is limited only to systems where the desired guidance function can be approximated by splines, while the choice of the &alternative models' to be used in the design is signi"cantly based on heuristic criteria.…”

“…Approaches generalising the method proposed by Smith, include the introduction of multi-switch Bang}Bang inputs [10], or the convolution of the desired guidance function with a series of impulses [11]. Other methods approximate the guidance function by a series of typical mathematical functions such as splines [4,6], sinusoids [12], ramped sinusoids [7], or polynomials [8]. Closed form solutions are also available, using linear quadratic optimal (LQ) techniques [8].…”

Guidance Preconditioning by an Impulse Sequence for Robust Residual Vibration Suppression

“…Residual vibration suppression is quite important in a broad range of mechanical engineering applications: space structures [5], cranes, textile machines, hydraulic machine tools [7], robot manipulators [1,6,8], computer disk heads [4], etc. The traditional approaches to minimize the effect of residual vibrations are focused either to a significant increase of the structure stiffness -resulting thus to bulky structures -or to the application of complex closed loop control methods, which in turn result to complex and failure liable motion systems.…”

“…Approaches generalizing the method proposed by Smith, include the introduction of multi-switch Bang-Bang inputs [12], or the convolution of the desired guidance function with a series of impulses [13][14][15][16]. Other methods approximate the guidance function by a series of typical mathematical functions -such as splines [1,7,8], sinusoids [2], ramped sinusoids [10], or polynomials [4]. Closed form solutions are also available, using linear quadratic (LQ) optimal techniques [4].…”