Title :
Shaping inputs to reduce vibration: a vector diagram approach
Author :
Singhose, William E. ; Seering, Warren P. ; Singer, Neil C.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
A method is described for limiting vibration in flexible systems by shaping the system inputs. Unlike most previous attempts at input shaping, this method does not require an extensive system model or lengthy numerical computation; only knowledge of the system´s natural frequency and damping ratio is required. The effectiveness of this method when there are errors in the system model is explored and quantified. An algorithm is presented which, given an upper bound on acceptable residual vibration amplitude, determines a shaping strategy that is insensitive to errors in the estimated natural frequency
Keywords :
damping; distributed parameter systems; vibration control; damping ratio; flexible systems; input shaping; natural frequency; residual vibration; upper bound; vector diagram; vibration control; Convolution; Damping; Design engineering; Frequency; Hoses; Numerical models; Optimal control; Robots; Silicon compounds; Vibration control;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126108
