International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Vibration Suppression Control for Mechanical Transfer Systems by Jerk Reduction

  • Published : 2007.12.31
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Abstract

This paper considers vibration suppression of a mechanical transfer system, where the work is connected with the hand flexibly. We adopt the idea of jerk reduction of the hand. From the equation of motion, we first derive a state equation including the jerk and acceleration of the hand, but excluding the displacement and velocity of the work. Then, we design optimal state feedback for a suitable cost function, and show by simulation that jerk reduction of the hand is effective for vibration suppression of the work and improvement of the settling time. Since state feedback including the jerk and acceleration is not practical, we propose a computation method for optimal feedback using displacements and velocities in the state only.

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References

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