一种同时抑制柔性结构残余振动和能量消耗的有效轨迹规划方法

Akira Abe
{"title":"一种同时抑制柔性结构残余振动和能量消耗的有效轨迹规划方法","authors":"Akira Abe","doi":"10.1016/j.csmssp.2016.08.001","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":100220,"journal":{"name":"Case Studies in Mechanical Systems and Signal Processing","volume":"4 ","pages":"Pages 19-27"},"PeriodicalIF":0.0000,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/j.csmssp.2016.08.001","citationCount":"19","resultStr":"{\"title\":\"An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures\",\"authors\":\"Akira Abe\",\"doi\":\"10.1016/j.csmssp.2016.08.001\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>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.</p></div>\",\"PeriodicalId\":100220,\"journal\":{\"name\":\"Case Studies in Mechanical Systems and Signal Processing\",\"volume\":\"4 \",\"pages\":\"Pages 19-27\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1016/j.csmssp.2016.08.001\",\"citationCount\":\"19\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Case Studies in Mechanical Systems and Signal Processing\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S2351988616300173\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Case Studies in Mechanical Systems and Signal Processing","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2351988616300173","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 19

摘要

针对柔性结构点对点运动中残余振动的抑制问题,提出了一种最小能量前馈控制方法。该方法通过一个输入为多项式函数输出的摆线函数来生成PTP运动的轨迹轮廓。得到的轨迹依赖于多项式函数的系数。为了实现对残余振动的抑制以及该PTP运动的运行能量,采用元启发式算法对系数进行了调整。在数值模拟中,我们研究了单连杆柔性机械臂和附加在柔性连杆上的机械臂的PTP运动。仿真结果与前人的研究结果进行了比较,验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures

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.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Editorial Board An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures Measured-based shaker model to virtually simulate vibration sine test A smart experimental setup for vibration measurement and imbalance fault detection in rotating machinery Measured-based shaker model to virtually simulate vibration sine test
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1