In this paper, exponential B-spline trajectories are presented and discussed. They are generated by means of a chain of filters characterized by a truncated exponential impulse response. If properly tuned, the filters applied to a vibrating plant are able to cancel the oscillations and in this sense the resulting splines are optimized with respect to the problem of vibrations suppression. Different types of exponential B-spline are illustrated, with one or more exponential filters in the chain, and the procedure for the interpolation of a given set of desired via-points, with a proper choice of the control points, is shown. As a matter of fact, exponential B-splines, generated by means of dynamic filters, combine the vibration suppression capability of input shapers and smoothing filters with the possibility of exactly interpolating some via-points. The advantages of these curves are experimental proved by considering the motion of a spherical pendulum connected to the flange of an industrial robot.

Multidimensional Trajectories Generation with Vibration Suppression Capabilities: the Role of Exponential B-splines / Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio. - 50:1(2017), pp. 6054-6059. ((Intervento presentato al convegno 20th World Congress of the International-Federation-of-Automatic-Control (IFAC) tenutosi a Toulouse, FRANCE nel JUL 09-14, 2017 [10.1016/j.ifacol.2017.08.1374].

Multidimensional Trajectories Generation with Vibration Suppression Capabilities: the Role of Exponential B-splines

Biagiotti, Luigi;Melchiorri, Claudio
2017

Abstract

In this paper, exponential B-spline trajectories are presented and discussed. They are generated by means of a chain of filters characterized by a truncated exponential impulse response. If properly tuned, the filters applied to a vibrating plant are able to cancel the oscillations and in this sense the resulting splines are optimized with respect to the problem of vibrations suppression. Different types of exponential B-spline are illustrated, with one or more exponential filters in the chain, and the procedure for the interpolation of a given set of desired via-points, with a proper choice of the control points, is shown. As a matter of fact, exponential B-splines, generated by means of dynamic filters, combine the vibration suppression capability of input shapers and smoothing filters with the possibility of exactly interpolating some via-points. The advantages of these curves are experimental proved by considering the motion of a spherical pendulum connected to the flange of an industrial robot.
20th World Congress of the International-Federation-of-Automatic-Control (IFAC)
Toulouse, FRANCE
JUL 09-14, 2017
50
6054
6059
Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio
Multidimensional Trajectories Generation with Vibration Suppression Capabilities: the Role of Exponential B-splines / Moriello, Lorenzo; Biagiotti, Luigi; Melchiorri, Claudio. - 50:1(2017), pp. 6054-6059. ((Intervento presentato al convegno 20th World Congress of the International-Federation-of-Automatic-Control (IFAC) tenutosi a Toulouse, FRANCE nel JUL 09-14, 2017 [10.1016/j.ifacol.2017.08.1374].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1148059
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