Compensation of Induced Vibrations by Commanded Counter Motions in Kinematic Redundant Feed Drive Systems (2013)

Nassef, M.; Schenck, C.; Kuhfuß, B.:

10th IEEE International Conference on Control and Automation (IEEE ICCA 2013), 12th -14th June, 2013, Hangzhou/China


This paper presents an approach using kinematic redundant actuators for the enhancement of machining performance in terms of productivity and accuracy. Unfortunately, induced vibrations in the structure due to jerk impose limitations on the acceleration and deceleration profiles. With the aid of kinematic redundancy, an inverse modeling algorithm is developed and exploited in this investigation as a method to compensate the unwanted vibrations in an assembly with two collinearly arranged axes. A compact model of the system is designed to study the effectiveness of the proposed method. Verification of the obtained results is done on an experimental test bench.