Dissociated jerk-limited trajectory applied to time-varying vibration reduction

Robotics and Computer-Integrated Manufacturing

Volumn 29, Issue 2, 2013, Pages 444-453

  Béarée, Richard ^a   Olabi, Adel ^a  

^a ARTS ET MÉTIERS PARISTECH   (France)

Author keywords

FIR filter; Jerk; Residual vibration; Time varying vibration; Trajectory planning

Indexed keywords

CARTESIAN MANIPULATOR; FINITE-IMPULSE RESPONSE; JERK; JERK-LIMITED; JERK-LIMITED TRAJECTORY; LOAD MASS; RESIDUAL VIBRATIONS; SETTLING TIME; STATIONARY MODES; TIME VARYING; TRAJECTORY PLANNING; VIBRATION PROBLEM; VIBRATION REDUCTIONS;

FIR FILTERS; IMPULSE RESPONSE; ROBOT PROGRAMMING; TOOLS; TRAJECTORIES;

VIBRATION ANALYSIS;

EID: 84868561222     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2012.09.014     Document Type: Article

References (16)

1. JW Jeon, and YY Ha A generalized approach for the acceleration and deceleration of industrial robots and machine tools Proceeding of IEEE Transactions on Industrial Electronics 47 2000 133 139
2. TS Lee, and YJ Lin An improved sculptured part surface design with jerk continuity for a smooth machining Proceeding of IEEE International Conference on Robotics and Automation 3 1998 2458 2463
3. Hindle TA, Singh T. Desensitized minimum power/jerk control profiles for rest-to-rest maneuvers. In: Proceedings of the American control conference, Chigago, Illinois. 2000.
4. A Piazzi, and A Visioli Global minimum jerk trajectory planning of robot manipulators Proceeding of the IEEE Transactions on Industrial Electronics 47 2000 140 149
5. A Gasparetto, A Lanzutti, R Vidoni, and V Zanotto Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning Robotics and Computer-Integrated Manufacturing 28 2012 164 181
6. Petrinec K, Kovacic Z. Trajectory planning algorithm based on the continuity of jerk. In: Proceedings of the 15th Mediterranean conference on control & automation, IEEE. July 27-29, Athens, Greece; 2007. p. 1-5.
7. A Gasparetto, and V Zanotto A technique for time-jerk optimal planning of robot trajectories Robotics and Computer-Integrated Manufacturing 24 3 2008 415 426
8. Béarée R, Barre PJ, Hautier JP. Vibration reduction abilities of some jerk-controlled movement laws for industrial machines, In: Proceedings of the 16th IFAC world congress, Prague, Czech Republic; July 4-8, 2005.
9. CM Harris Exploring smoothness and discontinuities in human motor behavior with Fourier analysis Journal of Mathematical Biosciences 188 2004 99 116
10. Singh T, Singhose W. Tutorial on input shaping/time delay control of maneuvering flexible structures. In: Proceedings of the American control conference, Anchorage, AK; May 8-10, 2002.
11. E Pereira, JR Trapero, IM Díaz, and V Feliu Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique Automatica 45 4 2009 1046 1051
12. PH Chang, and HS Park Time-varying input shaping technique applied to vibration reduction of an industrial robot Control Engineering Practice 13 1 2005 121 130
13. R Bearee, PJ Barre, P Borne, and E Dumetz Influence of a jerk controlled movement law on the vibratory behaviour of high-dynamics systems Journal of Intelligent and Robotic Systems 42 3 2005 275 293
14. A Olabi, R Bearee, O Gibaru, and M Damak Feedrate planning for machining with industrial six-axis robots Control Engineering Practice 18 5 2010 471 482
15. Jeong SY, Choi YJ, Park PG, Choi SG. Jerk limited velocity profile generation for high-speed industrial robot trajectories, In: Proceedings of the 16th IFAC world congress, Prague, Czech Republic; July 4-8, 2005.
16. RE Bolz, and GL Tuve CRC handbook of tables for applied engineering science 1973 CRC Press, Inc. Boca Raton 1071p