Title :
Using acausal shaping techniques to reduce robot vibration
Author :
Singer, Neil C. ; Seering, Warren P.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
A method for generating shaped command inputs which reduce endpoint vibration is presented. The technique applies to both open- and closed-loop systems. The Draper Laboratory´s Space Shuttle remote manipulator system nonlinear simulator is used to verify the substantial reduction of residual vibration. In addition, the shaped inputs have been designed to closely approximate the time-optimal input, therefore only a small move time penalty is incurred
Keywords :
aerospace control; closed loop systems; robots; vibration control; Draper Laboratory; Space Shuttle remote manipulator system; acausal shaping techniques; closed-loop systems; endpoint vibration; nonlinear simulator; robot vibration reduction; vibration control; Bandwidth; Damping; Frequency; Manipulators; Mechanical engineering; Position measurement; Robots; Space technology; Vibration control; Vibration measurement;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12268
