2축 이송계의 원호보간을 위한 개선된 입력성형기법Improved Input Shaping Method for Circular Interpolation of a 2-Axis Positioning System
- Other Titles
- Improved Input Shaping Method for Circular Interpolation of a 2-Axis Positioning System
- Authors
- 심진욱; 최필규; 권선웅; 홍성욱
- Issue Date
- Apr-2022
- Publisher
- 한국정밀공학회
- Keywords
- 원호보간; 입력성형; 잔류진동; 2축 이송계; Circular interpolation; Input shaping; Residual vibration; 2-Axis positioning system
- Citation
- 한국정밀공학회지, v.39, no.4, pp 283 - 289
- Pages
- 7
- Journal Title
- 한국정밀공학회지
- Volume
- 39
- Number
- 4
- Start Page
- 283
- End Page
- 289
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/25701
- DOI
- 10.7736/JKSPE.022.005
- ISSN
- 1225-9071
2287-8769
- Abstract
- This paper presents an improved input shaping method to eliminate vibration during circular interpolation of a flexible 2-axis positioning system. Due to the time delay introduced by input shaping, simultaneous 2-axis positioning with circular interpolation results in a certain amount of errors from the intended track or trajectory. This study investigated the track errors associated with circular interpolation caused by input shaping for a flexible 2-axis positioning system. The following three strategies for reducing such errors were proposed: velocity reduction in circular interpolation, adjustment of the time delay between 2 axes commands, and employment of a velocity profile compensation function. Simulations were performed to discuss the pros and cons of the three proposed strategies. Experiments were also performed to validate the results. Simulation and experiments showed that the track errors due to input shaping can be sufficiently reduced by combined use of the proposed strategies.
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Collections - School of Mechanical System Engineering > 1. Journal Articles
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