Numerical Aspects and Performances of Trajectory Planning Methods of Flexible Axes

Jean-Yves Dieulot, Issam Thimoumi, Frédéric Colas, Richard Béarée


Adequate Path Planning design is an important stage for controlling flexible axes because it may allow to cancel vibrations induced by oscillating modes. Among bang-bang profiles which are linked to optimal control, jerk assignment (acceleration derivative) and input shapers have been investigated. Theoretical results show the performance and robustness with respect to natural frequency mismatch. Practical validations on a real robot arm show the relevance of the jerk algorithm which is more robust with the same productivity performances as input shaping techniques.


Flexible axes, Vibrations, bang-bang laws, Input shapers, Motion Planning

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