A Command Generation Method of Point-to-Point Control for Suppressing Residual Vibration

A Command Generation Method of Point-to-Point (PTP) control is presented for suppressing mechanical residual vibration and positioning machine load at a designated time. A time domain property of commands to suppress residual vibration is analyzed. This property shows that relation command shapes and vibration are important to suppress residual vibration, and selection of command shape depending on positioning time is necessary to suppress residual vibration. By using this property, concrete command generation methods are proposed. Proposed commands for suppressing residual vibration are formulated simply, and require few computational resources to be generated. Experimental results are presented to verify the effectiveness of the proposed commands.