Effective Trajectory Planning Method for Simultaneously Suppressing Residual Vibration and Energy Consumption of Flexible Structures
Effective Trajectory Planning Method for Simultaneously Suppressing Residual Vibration and Energy Consumption of Flexible Structures
复制标题
同时抑制柔性结构残余振动和能耗的有效轨迹规划方法
DOI：
10.1016/j.csmssp.2016.08.001
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Akira Abe
中科院分区：
文献类型：
--
作者：
Hitoshi Tsunashima;Hirotaka Mori;Masayuki Ogino and Akira Asano;宮澤侑吾， 池田隆，原田祐志，石田幸男;松崎昴平，高橋洋行，豊田紘行，渡辺亨，背戸一登;Akira Abe
This paper presents a proposal for a minimum energy feedforward control technique for flexible structures to suppress residual vibrations in point-to-point (PTP) motion. In the proposed method, the trajectory profile of the PTP motion is generated through a cycloidal function whose input is the output of a polynomial function. The obtained trajectory is dependent upon the coefficients of the polynomial function. To achieve the suppression of the residual vibration as well as the operating energy of this PTP motion, the coefficients are tuned by metaheuristic algorithms. In the numerical simulations, we investigated the PTP motions of a single-link flexible manipulator and a robotic arm attached to a flexible link. The simulation results were compared with those of previous studies, revealing the effectiveness of the proposed method.
