TY - GEN
T1 - Trajectory synthesis for selective elimination of high frequency actuating torque harmonics
AU - Ge, Q. J.
AU - Rastegar, J.
AU - Mattice, M.
N1 - Publisher Copyright:
© 1998 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1998
Y1 - 1998
N2 - This paper deals with the problem of synthesizing joint trajectories of computer controlled machinery with tailored harmonic content for the actuating torques required to track the trajectories. For point-to-point motions with zero initial and final velocities and accelerations, a method is presented for shaping the harmonic content of the joint trajectories for the purpose of eliminating a specified high-frequency harmonic from the actuating torques. With such trajectories, the machine can perform the synthesized tasks with less residual vibration and increased settling time.
AB - This paper deals with the problem of synthesizing joint trajectories of computer controlled machinery with tailored harmonic content for the actuating torques required to track the trajectories. For point-to-point motions with zero initial and final velocities and accelerations, a method is presented for shaping the harmonic content of the joint trajectories for the purpose of eliminating a specified high-frequency harmonic from the actuating torques. With such trajectories, the machine can perform the synthesized tasks with less residual vibration and increased settling time.
UR - https://www.scopus.com/pages/publications/85100924208
U2 - 10.1115/DETC98/MECH-5950
DO - 10.1115/DETC98/MECH-5950
M3 - Conference contribution
AN - SCOPUS:85100924208
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 25th Biennial Mechanisms Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1998 Design Engineering Technical Conferences, DETC 1998
Y2 - 13 September 1998 through 16 September 1998
ER -