Enhanced Time-Optimal Filter-Based Point-to-Point Trajectory Generation with Vibration Suppression

This paper proposes enhancements to FIR filter-based trajectory generation for time-optimal Point-to-Point movements of machines with residual vibration suppression. Considering a set of kinematic constraints and the relevant eigenfrequencies of the mechanical subsystem, filter parameters for a series of rectangular filters are computed. With the proposed enhancements to the filter merge algorithm for eigenmode suppression, the trajectories generated are always compliant with the kinematic constraints and utilize the full potential of the kinematic limits. It is further extended to include a Zero-Vibration (ZV) input shaper to generate time-optimal trajectories in the cases when filter merge algorithms fail to compute a time-optimal filter parameter set. Reference trajectories are tested and verified in simulation as well as on a test stand.     «

This paper proposes enhancements to FIR filter-based trajectory generation for time-optimal Point-to-Point movements of machines with residual vibration suppression. Considering a set of kinematic constraints and the relevant eigenfrequencies of the mechanical subsystem, filter parameters for a series of rectangular filters are computed. With the proposed enhancements to the filter merge algorithm for eigenmode suppression, the trajectories generated are always compliant with the kinematic const...     »