Point-to-Point Motion Planning for Servosystems With Elastic Transmission Via Optimal Dynamic Inversion¹

A new technique, based on dynamic inversion, for the residual vibration reduction in the point-to-point motion of servosystems with elastic transmission is presented. The methodology consists of defining a suitable motion law for the load, and subsequently determining, via dynamic inversion, the corresponding command function for the system. The method inherently assures the robustness of the control scheme despite inaccuracies in the estimation of the stiffness constant and of the damping of the transmission. The main contribution of the paper lies in the definition of a simple optimization procedure which allows the system inversion point that minimizes the residual vibration to be found. Experimental results show that in this way the identification phase is less critical and performances can be significantly improved.