Point-to-Point Control Command for Suppressing Residual Vibration

A point-to-point (PTP) control command for the suppression of mechanical vibration and positioning machine load at a specified time is presented. First, the principle of the command for PTP control to suppress residual vibration is analyzed. This principle shows that selection of command shape depending on positioning time is important to suppress residual vibration. Moreover, by using this principle, concrete command generation methods are proposed, in which vibration suppression commands are represented by simple formulas. To verify the effectiveness of proposed commands, experimental results are presented in this paper