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Optimization of higher-order S-curve motion profile using unitization method aiming to reduce the vibration of a lightly damped system

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Abstract

A lightly damped system experiences undesirable residual vibration (RDV) at the end of the point-to-point motion. This paper proposes a novel numerical optimization algorithm for tuning the polynomial-function-based unitized fourth-order S-curve (UFOS-curve) motion profile to minimize the RDV of a lightly damped system. The proposed method describes a tuning rule for optimizing a UFOS-curve motion profile to achieve minimum RDV response for a given moving distance, motion completion time (MCT), and actuator capacities without addressing the system’s dynamics. The method is analytically formulated using the concept of unitization and the well-known weighted sum method. The formulation of the UFOS-curve motion profile is explained in both the general polynomial equation and the time-Laplace domain approach. The effectiveness of the proposed method is demonstrated by applying the designed motion profiles to an experimental setup based on a flexible rotating link. The simulated results based on the mathematical modeling are provided to validate the experimental results. The feasibility and practicality of the presented optimum UFOS-curve trajectory is experimentally demonstrated in comparison with other benchmark trajectories.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur, 440010, India

    Rupesh Tatte, Hemant Thorat & Hemant Jawale

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  1. Rupesh Tatte
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  2. Hemant Thorat
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Correspondence to Rupesh Tatte.

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Tatte, R., Thorat, H. & Jawale, H. Optimization of higher-order S-curve motion profile using unitization method aiming to reduce the vibration of a lightly damped system. J Braz. Soc. Mech. Sci. Eng. 46, 183 (2024). https://doi.org/10.1007/s40430-024-04752-x

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