Commanded Motion Optimization to Reduce Residual Vibration

Abstract

Residual vibrations affect machines at the end of commanded motion and can cause a lengthening of the work cycle. The proposed work addresses to the reduction of this undesired phenomenon with an optimization approach based on the Fourier transformation of the motion profile suppressing a band of exciting frequencies around the natural frequencies of the system. Experimental results confirmed a significant improvement, in terms of residual vibrations, with respect to the state of the art of motion profiles specifically designed for residual vibrations reduction.