Optimization Process for Polynomial Motion Profiles to Achieve Fast Movement With Low Vibration
| Autor: | Chang-Wan Ha, Dongwook Lee |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Polynomial Computer science 020208 electrical & electronic engineering Process (computing) 02 engineering and technology Motion (physics) Vibration Acceleration 020901 industrial engineering & automation Control and Systems Engineering Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Robot Electrical and Electronic Engineering Actuator |
| Zdroj: | IEEE Transactions on Control Systems Technology. 28:1892-1901 |
| ISSN: | 2374-0159 1063-6536 |
| Popis: | Since fast and accurate motion profiles are directly related to the productivity of manufacturing, many studies have been performed to optimize such motion profiles. However, previous research has not provided an appropriate solution regarding which motion profile is the best for a given situation. Therefore, in this article, we propose an optimization process for polynomial-function-based motion profiles to achieve fast movement with low vibration. The proposed process describes a method of optimizing an $n$ th-order polynomial motion profile to achieve a fast transfer time and minimal residual vibration characteristics with extra robustness to system uncertainty for a given moving distance and given actuator capacities. Then, we describe how to determine the best order of the optimized motion profile for given conditions, such as the allowable computational load, the required residual vibration bound, and the required robustness against system uncertainties. The performance of the optimized motion profile is demonstrated, and the suggested process for obtaining the best order of the optimal motion profile is applied to a practical example of a wafer transfer robot. |
| Databáze: | OpenAIRE |
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