@inproceedings{ecf0c51f6929465f9042923048acd8e4,
title = "Feedforward control based on Fourier series trajectory fitting method for industrial robot",
abstract = "Feedforward control is widely used in industrial robot as a valid control method. High speed motion will bring the vibration for robot with flexible joints, which will affect the dynamic performance of robot. The residual vibration character is analyzed for palletizing robot using feedforward control method in this paper. Considering the vibration suppression constraints polynomials fitting method is used to compute the discrete data of trajectory. Meanwhile, the discrete trajectory points are fitted based on Fourier series function. The trajectory fitted model is optimized using genetic algorithm, and the high frequency harmonics included in feedforward drive torque is decreased under the premise of guaranteeing fitting precision and boundary continuity. Simulation results verified the rightness of the proposed trajectory planning algorithm.",
keywords = "Feedforward control, Fourier series, Trajectory planning, Vibration suppression",
author = "Lianzheng Ge and Jian Chen and Ruifeng Li",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 29th Chinese Control and Decision Conference, CCDC 2017 ; Conference date: 28-05-2017 Through 30-05-2017",
year = "2017",
month = jul,
day = "12",
doi = "10.1109/CCDC.2017.7979361",
language = "英语",
series = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4890--4894",
booktitle = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
address = "美国",
}