An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures

This paper presents a proposal for a minimum energy feedforward control technique for flexible structures to suppress residual vibrations in point-to-point (PTP) motion. In the proposed method, the trajectory profile of the PTP motion is generated through a cycloidal function whose input is the output of a polynomial function. The obtained trajectory is dependent upon the coefficients of the polynomial function. To achieve the suppression of the residual vibration as well as the operating energy of this PTP motion, the coefficients are tuned by metaheuristic algorithms. In the numerical simulations, we investigated the PTP motions of a single-link flexible manipulator and a robotic arm attached to a flexible link. The simulation results were compared with those of previous studies, revealing the effectiveness of the proposed method.