NDLI: Smooth polynomial interpolation for point-to-point trajectories with vibration avoidance

Content Provider	IEEE Xplore Digital Library
Author	Sencer, B. Ishizaki, K.
Copyright Year	2015
Description	Author affiliation: Grad. Sch. of Eng., Nagoya Univ., Nagoya, Japan (Ishizaki, K.) \|\| Mech. Ind. & Manuf. Eng. Dept., Oregon State Univ., Corvallis, OR, USA (Sencer, B.)
Abstract	This paper presents a novel smooth polynomial trajectory generation technique for machine tools and high-speed motion systems. A major source of vibrations in fast moving high performance production machines are the inertial vibrations that are mainly excited due to frequency content of the reference command generator, so called the trajectory generator. In general practice, those inertial vibrations are avoided within the controller architecture through notch filtering. Or, input-shaping methods may be utilized to attenuate certain frequency components of interpolated reference trajectory and thus avoid exciting structural modes. Instead of employing those post-filtering techniques, this paper introduces a direct trajectory generation technique with a shaped frequency content to minimize residual vibrations. The time stamped displacement profile is defined as a 9th order polynomial. Profile parameters are determined through an optimization procedure where the objective function is defined as the total frequency energy of the reference acceleration profile measured in a predetermined frequency band. Given the position, velocity and acceleration boundary conditions of the desired motion profile, trajectory parameters are calculated analytically by solving the quadratic programming problem. Effectiveness of the proposed trajectory generation technique is evaluated through comparison against the well-know minimum jerk trajectories. Both, simulation studies and experimental tracking test are performed on a flexible X-Y motion drive system following point-to-point trajectories.
Sponsorship	IEEE
Starting Page	002070
Ending Page	002075
File Size	2341270
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392406
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Acceleration Feeds Vibrations Machine tools Optimization Linear programming residual vibration trajectory generation motion control machine tools
Content Type	Text
Resource Type	Article

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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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