NDLI: Residual vibration suppression of planar robotic manipulators using trapezoidal/S-curve based velocity profiles

Content Provider	IEEE Xplore Digital Library
Author	El Hussein, J. Uchiyama, N. Sano, S. Sawodny, O.
Copyright Year	2015
Description	Author affiliation: Tatematsu Found., Kariya, Japan (El Hussein, J.; Uchiyama, N.; Sano, S.; Sawodny, O.)
Abstract	Robotic manipulators are widely used in different sectors of industry. Due to material elasticity of its components, vibration often occurs, which can increase cycle time, mechanical wear and energy consumption. We provide analytic conditions for the acceleration time of a trapezoidal and S-curve velocity profile for suppressing residual vibration. Based on this, we present several trajectories which improve the vibration suppression performance For the derivation, we introduce a simple linear model for describing the vibration of the robotic manipulator. The applicability is investigated by evaluating the robustness of the velocity profiles. We verify the effectiveness of the proposed profiles by application to a planar 3R manipulator. The residual vibration is reduced by around 50% for the trapezoidal velocity profile and by over 90% for the extended profiles.
Starting Page	1148
Ending Page	1153
File Size	211239
Page Count	6
File Format	PDF
e-ISBN	9781479977871
DOI	10.1109/CCA.2015.7320767
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Acceleration Manipulators Robustness Digital TV Trajectory
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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