In this brief, a novel filter for online trajectory generation is presented. The filter can be categorized as an input smoother since it acts on the input signal by increasing its continuity level. When fed with simple signals, as, e.g., a step input, it behaves like a trajectory generator that produces harmonic motions. Moreover, it can be combined with other filters, and in particular, with smoothers having a rectangular impulse response, in order to generate (online) more complex trajectories compliant with several kinematic constraints. On the other hand, being a filter, it possesses the capability of shaping the frequency spectrum of the output signal. This possibility can be profitably exploited to suppress residual vibration by imposing that the zeros of the filter cancel the oscillatory dynamics of the plant. For this purpose, the standard harmonic filter has been generalized in order to consider not only the natural frequency but also the damping coefficient of the plant. In this manner, the so-called “damped harmonic filter” and the related “damped harmonic trajectory” have been defined. By means of theoretical considerations, supported by experimental tests, the novel approach has been compared with the existing methods, and the advantages of its use have been proved.

中文翻译：

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阻尼谐波平滑器，用于轨迹规划和振动抑制

在此简介中，提出了一种用于在线轨迹生成的新颖过滤器。滤波器可以归类为输入平滑器，因为它通过增加连续性来作用于输入信号。当馈入简单的信号（例如步进输入）时，它的行为就像会产生谐波运动的轨迹发生器。而且，它可以与其他滤波器组合，特别是与具有矩形脉冲响应的平滑器组合，以便生成（在线）符合几个运动学约束的更复杂的轨迹。另一方面，作为滤波器，它具有对输出信号频谱进行整形的能力。通过强加滤波器的零点消除设备的振荡动力学，可以有利地利用这种可能性来抑制残留振动。以此目的，对标准谐波滤波器进行了通用化，以便不仅考虑固有频率，而且考虑设备的阻尼系数。以这种方式，已经定义了所谓的“阻尼谐波滤波器”和相关的“阻尼谐波轨迹”。通过理论上的考虑，并在实验测试的支持下，将该新方法与现有方法进行了比较，并证明了其使用的优势。