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Journal of Intelligent and Robotic Systems

, Volume 42, Issue 3, pp 275–293 | Cite as

Influence of a Jerk Controlled Movement Law on the Vibratory Behaviour of High-Dynamics Systems

  • Pierre-Jean Barre
  • Richard Bearee
  • Pierre Borne
  • Eric Dumetz
Article

Abstract

The focus of this paper is on the formalisation of the influence of a jerk-controlled movement law on the vibrations of industrial high-speed systems, i.e. systems for which axes are submitted to significant dynamical demands. Analysis of the physical relationship between the jerk limit and the maximum vibratory amplitude is conducted on a simplified axis drive model that simultaneously accounts for axis control parameters and predominant mode effects. Experimental measurements conducted on three tests-setups demonstrate the effectiveness of the proposed approach in accurately predicting the evolution of the vibration level according to the constant jerk stages time and the axis drive parameters.

Keywords

jerk vibration control path planning industrial machine 

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Copyright information

© Springer 2005

Authors and Affiliations

  • Pierre-Jean Barre
    • 1
  • Richard Bearee
    • 2
  • Pierre Borne
    • 3
  • Eric Dumetz
    • 4
  1. 1.Technological research teamERT CEMODYNE, L2EP ENSAMLille CedexFrance
  2. 2.Technical Centre for Mechanical Engineering Industries (CETIM)Senlis CedexFrance
  3. 3.Automation, Computer Engineering and Signals Laboratory (LAGIS)Ecole Centrale LilleVilleneuve d’Ascq CedexFrance
  4. 4.Technological research teamERT CEMODYNE, L2EP, USTL, Polytech’LilleVilleneuve d’AscqFrance

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