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- W3012023245 abstract "S-curve commands are ubiquitous in industrial servo drives due to their simplicity and smoothness. Nevertheless, they need to be adjusted to adapt for flexible systems. This paper proposes a simple motion planning scheme using S-curve command for an overhead crane system, in which an issue of residual vibration suppression ought to be addressed. Specifically, the S-curve command gains the vibration suppression property by embedding essential conditions of a vibration-free transferring process. In order to enhance transportation productivity, minimum-time optimization problem will be resolved by parameterizing the S-curve command to establish constrained discrete nonlinear programs, in which maximum velocity and maximum acceleration of the actuator are explicitly taken into account. Global optimal solution is successfully obtained. It will be shown that, when infinite actuator limits are allowed, the proposed S-curve command is only two times slower than a discontinuous command formed by a step function and a zero vibration input shaper, not four times as suggested by the influential study [1]. Both simulation and experimental results are provided to verify effectiveness of the proposed method." @default.
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- W3012023245 date "2019-12-01" @default.
- W3012023245 modified "2023-09-26" @default.
- W3012023245 title "A Minimum-time Zero Vibration S-curve Command for an Overhead Crane with Actuator Limits" @default.
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- W3012023245 doi "https://doi.org/10.1109/cdc40024.2019.9029523" @default.
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