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VIBRATION SUPPRESSION METHOD, VIBRATION SUPPRESSION DEVICE, AND INDUSTRIAL MACHINE DEVICE HAVING VIBRATION SUPPRESSION FUNCTION
VIBRATION SUPPRESSION METHOD, VIBRATION SUPPRESSION DEVICE, AND INDUSTRIAL MACHINE DEVICE HAVING VIBRATION SUPPRESSION FUNCTION
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机译：具有振动抑制功能的振动抑制方法，振动抑制装置以及工业机械装置
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摘要
PROBLEM TO BE SOLVED: To suppress vibration of multiple degrees of freedom and time changes generated in a motion body by acceleration/deceleration motion.;SOLUTION: A reference input value is decomposed into input values of respective vibration modes. The input positions of impulses A2k... to A2k+1-1 are set so that the input values of the respective vibration modes can be input after the half-period passage of the unique period of an n-k mode from impulses A0... to A2k-1 in which input positions for suppressing the vibration of an n-k order mode. The sizes of impulses A2k...A2k+1 are respectively set in view of work of a Coriolis work generated accompanying the posture change of a motion body itself during acceleration or deceleration motion. This process is executed in order for integers k=0 to n-1. The input values are shaped by input shaping which combines totally 2n impulses A 0... to A 2n-1 where the input positions and the sizes have been set. Then, an acceleration/deceleration pattern is generated from the shaped input values for each joint in view of a nonlinear term.;COPYRIGHT: (C)2014,JPO&INPIT
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机译：要解决的问题：为了抑制运动物体通过加减速运动在运动中产生的多个自由度和时间变化的振动;解决方案：将参考输入值分解为各个振动模式的输入值。脉冲A 2 k ...到A 2 k + 1 -1的输入位置进行设置，以便可以在从脉冲A 0 ...到脉冲A 0的nk模式唯一周期的半周期过去之后输入相应振动模式的输入值Sub> 2 k -1 ，其中的输入位置用于抑制nk阶模式的振动。根据工作情况分别设置脉冲A 2 k ... A 2 k + 1 的大小在加速或减速运动期间伴随运动体本身的姿势变化而产生的科里奥利功的变化。按整数k = 0到n-1的顺序执行此过程。输入值通过输入整形来整形，该整形将总共2 n 个脉冲A 0 ...组合为A 2 n - 1 ，其中已设置输入位置和大小。然后，根据非线性项从每个关节的成形输入值生成加速/减速模式。;版权：（C）2014，JPO＆INPIT
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