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High-Speed Robotic Manipulator Vibration Control via B-Spline Trajectory Generation and L-BFGS-B Optimization
Peng-Jen Chen Peng-Jen Chena, Ta-Jen Peng Ta-Jen Pengb, Ching-Li Liu Ching-Li Liuc and En-Cheng Liou En-Cheng Liouc
aAssociate Professor, Department of Intelligent Automation Engineering, National Chin-Yi University of Technology, Taiwan 411030 R.O.C.; Hydrogen and Fuel Cells Sustainable Development Center, Taiwan 411030 R.O.C.
bHydrogen and Fuel Cells Sustainable Development Center, Taiwan 411030 R.O.C.; Asscoiat Professor, Department of Intelligent Automation Engineering, National Chin-Yi University of Technology, Taiwan 411030 R.O.C.
cUndergraduate Student, Department of Intelligent Automation Engineering, National Chin-Yi University of Technology, Taiwan 411030 R.O.C.
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Abstract:
High-speed robotic operations often generate significant vibrations and trajectory deviations, compromising precision and efficiency in industrial automation. This study proposes an advanced motion control strategy integrating B-Spline trajectory planning with the L-BFGS-B optimization algorithm and systematic tuning of CNT and Override parameters. Experimental validation involved a six-axis robotic arm executing a standard 90-degree corner path and a complex multi-turn trajectory. Results indicate optimal parameter tuning effectively balances vibration suppression and positional accuracy, maintaining vibration magnitudes between 0.75 and 1.25 G. Utilizing two B-Spline control points significantly reduces average positional error from 27.68 mm to 7.52 mm, with a minimal operation time increase of 0.15 seconds. Compared to conventional methods, the proposed approach achieves a 12% reduction in execution time and a 35% reduction in positional errors, highlighting its efficacy and substantial potential to enhance automated manufacturing systems, precision machining tasks, and advanced robotic motion planning applications.
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Keywords: High-speed robotic arm, trajectory planning, vibration suppression , robotic control
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©
2026
CSME , ISSN 0257-9731
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