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Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm

Ruf, Markus (2016) Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm. In: IEE CONFERENCE PUBLICATIONS. IEEE Conference on Control Applications, 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/110547/
Document Type:Conference or Workshop Item (Speech)
Title:Residual Vibration Reduction of Flexible Joint Systems using a Frequency Domain Trajectory Planning Algorithm
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ruf, MarkusMarkus.Ruf (at) dlr.deUNSPECIFIED
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:IEEE Conference on Control Applications
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control
Deposited By: Ruf, Markus
Deposited On:11 Jan 2017 14:03
Last Modified:16 Jul 2019 14:54

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