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On the Minimum Harmonic Trajectory Pattern for Point-to-Point Motion

[+] Author Affiliations
Jahangir Rastegar, Dake Feng

State University of New York at Stony Brook, Stony Brook, NY

Paper No. DETC2011-47724, pp. 359-363; 5 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


In this paper, the lowest harmonic trajectory pattern for point-to-point motions with zero end point velocity, acceleration and jerk of fully controlled nonlinear dynamics systems that can be synthesized is proved to be a unique combination of a fundamental frequency harmonic and its second harmonic. For fully controlled dynamic systems such as robot manipulators and other computer controlled machines with rigid links, it is shown that such a trajectory pattern would yield the minimum number of harmonic in the required actuation forces/torques. Such trajectory patterns are therefore suitable for point-to-point motion synthesis of high-precision and high-speed computer controlled machinery and can also be synthesized to minimize excitation of the system natural modes of vibrations.

Copyright © 2011 by ASME



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