The Effectiveness of Including a Preshaper in Motion Trajectory Optimization for Mechanical Systems

This paper considers the trajectory generation to minimize the motion time with suppressing vibration for mechanical systems like a overhead crane. Though many previous works for similar objectives have been conducted thus far, a practical method to speed up without vibration is still desired because it is an important issue deeply related to factory productivity. In this paper, the effectiveness of including a preshaper in trajectory optimization of vibration system is investigated. We present a design method of time-optimal motion trajectories for mechanical systems, which assumes to include a presahper for vibration suppression. It is shown that the presented approach enables a mechanical system to reach the target position faster than conventional methods, while satisfying constraints including residual vibration suppression. Simulation and experimental results demonstrated the effectiveness of the proposed method.