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Ruf, Markus (2016) Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm. In: IEE CONFERENCE PUBLICATIONS. 2016 IEEE Conference on Control Applications (CCA), 19.-22. Sep. 2016, Buenos Aires.
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Abstract
Fast motions of systems with constrained flexible dynamics often lead to residual vibrations. Established methods for compensating those vibrations such as input-shaping, filtering and feed-forward methods are already available. However, those methods do not explicitly consider input-constraints. As a consequence, they cannot effectively reduce residual vibrations if input-constraints are violated. This depends on the trajectory they are applied on, which is generated by a trajectory planning algorithm. In this paper, a trajectory planning algorithm is introduced which incorporates a residual vibration compensation procedure within the algorithm. In order to minimize the trajectory’s excitation of the resonant frequency, a cost function is defined in the frequency domain and input-constraints are considered in the optimization algorithm. Hence, Suppression of residual vibrations for fast motions can be achieved. The algorithm is implemented and tested on a robotic manipulator.
| Item URL in elib: | https://elib.dlr.de/110539/ | ||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||
| Title: | Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm | ||||||||
| Authors: |
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| Date: | 22 September 2016 | ||||||||
| Journal or Publication Title: | IEE CONFERENCE PUBLICATIONS | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Gold Open Access: | No | ||||||||
| In SCOPUS: | No | ||||||||
| In ISI Web of Science: | Yes | ||||||||
| Status: | Published | ||||||||
| Keywords: | Trajectory Planning, Optimization, Robotics | ||||||||
| Event Title: | 2016 IEEE Conference on Control Applications (CCA) | ||||||||
| Event Location: | Buenos Aires | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 19.-22. Sep. 2016 | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | Space System Technology | ||||||||
| DLR - Research area: | Raumfahrt | ||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of System Dynamics and Control | ||||||||
| Deposited By: | Ruf, Markus | ||||||||
| Deposited On: | 11 Jan 2017 14:08 | ||||||||
| Last Modified: | 09 Feb 2017 19:22 |
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Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm. (deposited 11 Jan 2017 13:45)
- Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm. (deposited 11 Jan 2017 14:08) [Currently Displayed]
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