New Damped-Jerk trajectory for vibration reduction

• A simple technique to design a jerk-shaped profile adapted to damped vibrations reduction is proposed.
• The jerk-limited profile ability to cancel undamped vibrations is explained.
• Practical tuning rules for the proposed Damped-Jerk profile are given.
• Experimental tests conducted on an industrial robot axis demonstrated the effectiveness of the proposed methodology.

This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems. Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration.