Time-optimal Motion Profile Planning Considering Damping Attenuation for Point to Point Operation

doi:10.3901/JME.2019.05.104

Abstract

Abstract: The damping is existed in mechanical system, however, most of current motion planning approaches do not consider the damping attenuation effect, thus the real response of vibration during motion control can not be simulated. The time-optimal motion planning model considering damping is proposed. The related positioning error constraint of the presented optimization model is constructed based on the residual vibration response of damped flexible motion system obtained by using Laplace method. Also, a 3rd order asymmetric S-curve motion profile with 7 independent variables is proposed to consider the damping attenuation in motion profile design. Numerical simulation indicates that the damping may have the large influence on residual vibration response of lightly damped flexible motion system. Furthermore, both numerical simulation and experiment results reveal that the jerks' magnitude during acceleration section of the optimized motion profile are larger than those during deceleration section in order to make full use of damping attenuation to limit residual vibration, which results that the obtained time-optimal motion profile is the asymmetric profile with high acceleration and low deceleration. The experiment results indicate that the optimized motion profile obtained by the proposed time-optimal motion planning model can significantly reduce the required positioning time meeting the positioning accuracy demand.

Key words: asymmetric S-curve profile, damping attenuation, motion planning, residual vibration, time-optimal

CLC Number:

TG156

BAI Youdun, CHEN Xin, YANG Zhijun. Time-optimal Motion Profile Planning Considering Damping Attenuation for Point to Point Operation[J]. Journal of Mechanical Engineering, 2019, 55(5): 104-112.

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