High performance final state control system based on minimum-jerk trajectory for industrial robots

This paper proposes a new high performance final state control system for industrial robots. To improve productivity, industrial robots are required high-speed and high-accuracy motion. However, industrial robots have a vibration phenomenon caused by axis torsion. To overcome this problem, this paper proposes a new final state control system based on a minimum-jerk trajectory. The proposed method uses the minimum-jerk profile and the robust feedback control to address the vibration phenomenon, a interference from other joints, and a parameter variation. In addition, the final state control system has a new profile design method, which is widely used in the industrial fields. The proposed method is evaluated through an experiment using a tested three-degree-of-freedom (DOF) industrial robot. From the results of this experiment, effectiveness of the proposed final state control system is confirmed.vibration