S-curve Motion Profile Design for Vibration Control of Single Link Flexible Manipulator

Abstract

In flexible manipulators, it is important the reduce end-effector vibrations. Suppression of end-effector vibrations significantly increases the precision of the performed work. Selection of velocity profile for giving motion to a manipulator is crucial to reduce the vibrations especially during high-speed motions. In this study, the effect of 3rd order S-curve velocity motion profile time parameters which is related with natural period of flexible manipulator on endpoint vibrations of a flexible beam are investigated. The S-curve motion profile results and trapezoidal motion profile results are also compared. The acceleration and deceleration times of both S-curve and trapezoidal velocity motion profiles are selected equal. Finite elements model of flexible robot manipulator is created and solution of the transient response under given velocity profile is obtained by using Newmark method. The results obtained from the Newmark method are compared with the results obtained from the model established using ANSYS program. The effects of time parameters of S-curve motion profiles on endpoint vibrations were shown by comparing in terms of amplitudes.