Minimum-time system-inversion-based motion planning for residual vibrationreduction

In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems, The idea is t o define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; therm, by mean s of a noncausal system inversion, the command function of the system is de termined with a continuous derivative of an arbitrary order. A procedure th at minimizes the duration of the movement, taking into account actuator con straints, can then be performed. Comparisons with the well-known input shap ing techniques have been performed via both a simulation example and an exp erimental setup. The proposed method, which is inherently robust to modelin g errors, emerges as a very flexible and competitive technique.