Point-to-Point Motion Planning for Servosystems With Elastic Transmission Via Optimal Dynamic Inversion

[+] Author and Article Information
Aurelio Piazzi

Dipartimento di Ingegneria dell’Informazione, University of Parma, Parma, Italy e-mail: aurelio@ce.unipr.it

Antonio Visioli

Dipartimento di Elettronica per l’Automazione, University of Brescia, Via Branze 38, I-25123 Brescia, Italy e-mail: visioli@bsing.ing.unibs.it

J. Dyn. Sys., Meas., Control 123(4), 733-736 (Oct 03, 2001) (4 pages) doi:10.1115/1.1408944 History: Received October 03, 2001
Copyright © 2001 by ASME
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Singer,  N. C., and Seering,  W. P., 1990, “Preshaping command inputs to reduce system vibration,” ASME J. Dyn. Syst., Meas., Control, 112, Mar., pp. 76–82.
Singhose,  W. E., Porter,  L. J., Tuttle,  T. D., and Singer,  N. C., 1997, “Vibration reduction using multi-hump input shapers,” ASME J. Dyn. Syst., Meas., Control, 119, June, pp. 320–326.
Piazzi,  A., and Visioli,  A., 2000, “Minimum-time system-inversion-based motion planning for residual vibration reduction,” IEEE/ASME Trans. on Mech., 5, No. 1, pp. 12–22.
Piazzi,  A., and Visioli,  A., 2001, “Optimal noncausal set-point regulation of scalar systems,” Automatica, 37, No. 1, pp. 121–127.
Adamini,  R., Faglia,  R., and Incerti,  G., 1995, “Parametric motion planning techniques for servosystems endowed with elastic transmission,” Machine Vibration, 4, pp. 14–21.
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Model of an elastic transmission
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Sketch of the experimental setup
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The two carts linked with the spring adopted for the experiments
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The planned motion of the load
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The command input function for the nominal and optimal dynamic inversion
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The actual load motion for the nominal and optimal dynamic inversion



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