Input Design for optimal discrete time Point-to-Point motion of an industrial XY-positioning table.

被引：0

作者：

Dijkstra, BG ^{[1
]}

Rambaratsingh, NJ ^{[1
]}

Scherer, C ^{[1
]}

Bosgra, OH ^{[1
]}

Steinbuch, M ^{[1
]}

Kerssemakers, S ^{[1
]}

机构：

[1] Delft Univ Technol, Mech Engn Syst & Control Grp, NL-2628 CD Delft, Netherlands

来源：

PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a new technique is presented to design input signals for point-to-point control problems with the property of minimal excitation of parasitic system oscillations. This technique is compared to impulse based input design techniques in experiments performed on an industrial XY-positioning table. Impulse Input Shaping was formulated as a solution to an optimisation problem, which has been transformed for the case of point-to-point problems, resulting in a more time-optimal solution. The results from this new optimisation are very impressive considering the simplicity.

引用

页码：901 / 906

页数：6

共 11 条

[1] Efficient Computation of Time-Optimal Point-to-Point Motion Trajectories
Janssens, Pieter
Van Loock, Wannes
Pipeleers, Goele
Swevers, Jan
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (02) : 679 - 686
[2] Point-to-point motion control for a high-acceleration positioning table via cascaded learning schemes
Ding, Han
Wu, Jianhua
[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2007, 54 (05) : 2735 - 2744
[3] A model predictive control approach for time optimal point-to-point motion control
Van den Broeck, Lieboud
Diehl, M.
Swevers, J.
[J]. MECHATRONICS, 2011, 21 (07) : 1203 - 1212
[4] Joint input shaping and feedforward for point-to-point motion: Automated tuning for an industrial nanopositioning system
Boeren, Frank
Bruijnen, Dennis
van Dijk, Niels
Oomen, Tom
[J]. MECHATRONICS, 2014, 24 (06) : 572 - 581
[5] POINT-TO-POINT MULTIPLE-GOAL TASK REALIZATION OF MANIPULATOR AND POSITIONING TABLE: A DESIGN OF AUXILIARY LINKAGES
Gueta, Lounell B.
Chiba, Ryosuke
Arai, Tamio
Ueyama, Tsuyoshi
Rubrico, Jose Ildefonso Udang
Ota, Jun
[J]. INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING-THEORY APPLICATIONS AND PRACTICE, 2018, 25 (06): : 815 - 827
[6] Improved computation of time-optimal control trajectory for robotic point-to-point motion
Purdue Univ, Indianapolis, United States
[J]. Int J Control, 1 (177-194):
[7] An improved computation of time-optimal control trajectory for robotic point-to-point motion
Chen, YB
Huang, J
[J]. INTERNATIONAL JOURNAL OF CONTROL, 1996, 65 (01) : 177 - 194
[8] An efficient algorithm for solving time-optimal point-to-point motion control problems
Janssens, Pieter
Van Loock, Wannes
Pipeleers, Goele
Swevers, Jan
[J]. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2013,
[9] Time-optimal trajectory planning of robot manipulators in point-to-point motion using an indirect method
Ghasemi, M. H.
Kashiri, N.
Dardel, M.
[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2012, 226 (C2) : 473 - 484
[10] Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots
Marauli, Tobias
Salunkhe, Durgesh Haribhau
Gattringer, Hubert
Mueller, Andreas
Chablat, Damien
Wenger, Philippe
[J]. 2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2023, : 10014 - 10019

← 1 2 →