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Title:

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

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
R. Yalamanchili, S. Schlee, M. Märkl, F. A. King
Abstract:
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...     »
Book / Congress title:
Conference Proceedings 2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Date of congress:
27-29 February 2024
Publisher:
IEEE
Date of publication:
21.05.2024
Year:
2024
Quarter:
2. Quartal
Year / month:
2024-05
Month:
May
Print-ISBN:
979-8-3503-9428-3
E-ISBN:
979-8-3503-9427-6
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/ICMRE60776.2024.10532159
WWW:
https://ieeexplore-ieee-org.eaccess.tum.edu/document/10532159
Notes:
USB ISBN:979-8-3503-9426-9
Semester:
SS 24
TUM Institution:
Lehrstuhl für Hochleistungs-Umrichtersysteme
Copyright statement:
(c) IEEE
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