Robust Trajectory Generation for Multiaxis Vibration Avoidance

• Published in: IEEE/ASME transactions on mechatronics Vol. 25; no. 6; pp. 2938 - 2949
• Main Authors: Dumanli, Alper, Sencer, Burak
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Cartesian coordinates; Convex optimization; Frequencies; Frequency control; Frequency spectrum; Inertial reference systems; Machine tools; Motion systems; Multiaxis; robust vibration suppression; Robustness; Servomotors; Splines (mathematics); Three axis; Trajectory; trajectory generation; Trajectory optimization; Vibrations
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2020.2999743

Precision manufacturing equipment suffer from unwanted vibrations triggered in rapid motion. Unless mitigated, these vibrations limit achievable accuracy and productivity of motion systems. This article presents a novel technique to generate reference motion trajectories that can robustly avoid triggering unwanted inertial vibrations. The reference trajectory is defined in B-spline form, and its frequency spectrum is optimized to attenuate spectral energy in a desired frequency band to avoid excitation of unwanted vibrations. A novel time-domain smoothing objective is also proposed to improve tracebility of generated trajectories. The trajectory optimization problem is put in a convex form, and a novel windowing scheme is designed to solve it efficiently for real-time implementation. Robustness and effectiveness of the proposed method is validated experimentally on an industrial three-axis Cartesian machine tool. Experiments show that the proposed method can robustly avoid unwanted structural vibrations without introducing delay to the motion and outperform state-of-the-art prefiltering methods.