Optimal Trajectory Generation to Residual Vibration Reduction of Transport Process based on Dynamic Programming Algorithm

Residual vibrations suppression of suspended payload transporting has numerous applications in the field of transporting. In previous studies, many control methods have been applied to reduce vibrations. Imprecise dynamic modeling, using sensor equipment, and high-cost designing of control systems decrease the performance of these methods. In the present study, an optimal trajectory of payload transport by dynamic programming algorithm is generated to reduce the residual swing. Dynamic programming algorithm is a computational technique by which breaking the problem down into sub-problems, an optimal trajectory recursively is executed with the sequence of sub-decision. In addition, input shaping method is applied to create the optimal trajectory. In this technique, the residual vibration is reduced by convolving an impulse sequence with a transport trajectory and consequently a desired trajectory creating. The simulation of optimal trajectories has been done in EDMS software. Regarding to the uncertainty of the dynamic modeling to which result error computational in input shaping technique, the dynamic programming algorithm is suggested for rapid transport of nonlinear systems. Experimental simulation section is carried out with connecting the pendulum to a robot to measure the vibration in ending of the transport and the time needed after swing stopping. Finally, the simulation results showed that the dynamic programming implementation leads to the reduction of the residual swing in the ending of the transport more than the prior method. Besides, the time needed for stop swing is 2 seconds lower than polynomial trajectory and 1 second lower than input shaping.