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Robust motion profiles for the residual vibration reduction of an undamped system

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Abstract

This paper proposes two robust motion profiles to reduce the residual vibration of an undamped system: Trigonometric and trapezoidal acceleration motion profiles. The proposed motion profiles are defined by the total traveling, accelerating, and rising times in acceleration for each profile. Due to their simplicity, implementation of the proposed motion profiles is relatively easier when compared to previous input-shaping motion profiles. Furthermore, the proposed profiles are more robust in terms of system modelling errors than previous s-curve motion profiles. It is found in this paper that the zero vibration and robustness conditions are satisfied if the total traveling, accelerating, and rising times are half-integer multiples of the natural period for the trigonometric profile and integer multiples for the trapezoidal profile.

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Correspondence to Jintai Chung.

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Recommended by Associate Editor Eung-Soo Shin

Byeongin Kim received the B.S. and Ph.D. degrees from the Department of Mechanical Engineering, Hangyang University, Korea in 2009 and 2015, respectively. He is now working for Hyundai Powertech, Korea. His research interests are structural dynamics and vibration reductions in flexible structures and automatic transmission.

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Kim, B., Yoo, H.H. & Chung, J. Robust motion profiles for the residual vibration reduction of an undamped system. J Mech Sci Technol 31, 4647–4656 (2017). https://doi.org/10.1007/s12206-017-0911-9

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  • DOI: https://doi.org/10.1007/s12206-017-0911-9

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