Residual vibration suppression conditions for mechanical system motion using simple trajectory

This paper presents a motion trajectory generation method for mechanical systems such as feed drive tables, gantry cranes, and material handling systems, which can be widely used in industrial applications. These systems are operated using S-curve acceleration and deceleration trajectory, and controllers that allow only such a simple motion trajectory are employed from the viewpoints of controller hardware and implementation cost efficiency. This study deals with systems that have simple mechanical dynamics including vibration properties and derives a necessary and sufficient condition for the motion trajectory to suppress residual vibration. Simulation results demonstrate the validity of the proposed conditions.