Residual vibration suppression and energy saving in industrial machines using a trapezoidal velocity profile

A trapezoidal velocity profile is widely used in industrial machines all over the world in particular for point-to-point motion. This paper deals with residual vibration suppression and energy saving for industrial machines operated by such a simple trapezoidal velocity profile. Because many industrial machine controllers currently in use allow to implement only such a simple motion trajectory, the proposed method has significant advantage on the implementation to these machines all over the world, and can contribute to recent environmental and energy-shortage problems. This paper first derives necessary and sufficient conditions for suppressing residual vibration by using a trapezoidal velocity profile for industrial machines that have typical second-order dynamics. Next, an equation for calculating energy consumed in point-to-point motion based on a trapezoidal velocity profile is presented. Simulation and experiment demonstrate the effectiveness of the proposed analytical results.