Trapezoidal motion profile to suppress residual vibration of flexible object moved by robot

Hyun Joong Yoon, Seong Youb Chung, Han Sol Kang, Myun Joong Hwang

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


The residual vibration when a robot manipulator is operated at high speed needs to be suppressed. These vibrations are generated by the resonance of a flexible object being moved by the robot, and research on control algorithms and motion profiles is ongoing to reduce them. In this paper, we propose a method to reduce the residual vibration of an object moved by a robot manipulator by optimizing the acceleration/deceleration time calculated using the object’s natural frequency. The relationship between acceleration/deceleration time and the residual vibration in a trapezoidal velocity profile is considered by analyzing the scenario when the jerking motion characteristic of such vibrations occurs. The results of experiments using a commercial robot show that residual vibrations can be reduced by the proposed method without the need for an additional feedback control algorithm while transferring a flexible object over small and large distances.

Original languageEnglish
Article number30
JournalElectronics (Switzerland)
Issue number1
StatePublished - Jan 2019


  • Industrial robot
  • Manipulator
  • Motion control
  • Motion profile
  • Residual vibration


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