INPUT SHAPING CONTROL TO REDUCE RESIDUAL VIBRATION OF A FLEXIBLE BEAM
نویسندگان
چکیده
منابع مشابه
Using Input Shaping to Minimize Residual Vibration in Flexible Space Structures
Input shaping is examined as a technique to reduce the residual vibration in flexible space structures. As part of a NASA program, a nonlinear threedimensional model of the Shuttle's Remote Manipulator System (SRMS) was used to test the interactions between feedback and feedforward control techniques. The problem of changing geometry systems was also examined in detail. As these systems move, t...
متن کاملControl of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
متن کاملHybrid Learning Control with Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator
The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity...
متن کاملMicrocontroller-Based Input Shaping for Vibration Control of Flexible Manipulator System
This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristi...
متن کاملReference Input Shaping to Reduce the Move Time of a Very Flexible One-Link Manipulator
When a robot manipulator is required to be light, long or to move quickly, its link tends to flex. When the link flexes, its end position is difficult to control. In fact, the flexibility brings about undesirable attributes such as non-minimum phase, tip vibration and complicated dynamics. As a result, in contrast to a rigid-link robot, control of the flexible-link robot is more challenging and...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Computer Science and Cybernetics
سال: 2016
ISSN: 1813-9663,1813-9663
DOI: 10.15625/1813-9663/32/1/6765