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Paper deals with algorithm of control signal shaping which ensures reducing of the robot end-effector residual vibrations by means of elimination of control signal’s spectral mangitude in the area around natural frequency both in non-damped and damped systems.
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... better results could be obtained when applying polynomial series based impulse [1]. After construction of system consisting of the equation (6) and (9), which is completed by the equations defining continuity of time course of the impulse it could be found solution. For b=0.25 and ∆ω z =1.5∆ω z0 it is illustrated in Fig. 5. It is apparent that the length of the impulse for given value of damping coefficient b and required velocity change ∆ω z is much shorter in the polynomial case. The interval of output velocity changes for which it is possible to found realizable solution is about 4 times smaller in the case of rectangular impulse in comparison with ...
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