Proceedings ArticleDOI
Vibration control of a coordinate measuring machine
N. Seth,K.S. Rattan,R.W. Brandstetter +2 more
- pp 368-373
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TLDR
In this paper, a comparative study of two vibration reduction schemes, the command preshaping technique and the feed forward control technique, is presented to drive the end point of a coordinate measuring machine along a commanded trajectory without any oscillations at the end-point.Abstract:
A comparative study of two vibration reduction schemes, the command preshaping technique and the feedforward control technique, is presented. The objective is to drive the end-point of a coordinate measuring machine along a commanded trajectory without any oscillations at the end-point. This is achieved by designing appropriate controllers for the system based on a robust control scheme. This scheme consists of two nested feedback loops-an inner loop to control the motor position and an outer loop to control the position of the end-point. The controllers based on the two vibration reduction schemes are designed for the outer loop to make the system vibration-free. It is shown that the command preshaping scheme is a special case of the feedforward control scheme. The design method is illustrated with a numerical example. >read more
Citations
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Journal ArticleDOI
Command shaping for flexible systems: A review of the first 50 years
TL;DR: A review of command-shaping research since it was first proposed in the late 1950s can be found in this paper, where the important milestones of the research advancements, as well as application examples are used to illustrate the developments in this important research field.
Input shaping for vibration reduction with specified insensitivity to modeling errors
TL;DR: In this article, Singhose and Seering proposed a robust input shaping method to reduce residual vibration by generating a command signal that is self-cancellable, i.e., any vibration caused by a portion of a command is canceled by a later portion of the command.
Journal ArticleDOI
Control of Tower Cranes With Double-Pendulum Payload Dynamics
TL;DR: Experimental results are presented to verify that the proposed method can improve the ability of crane operators to drive a double pendulum tower crane and a command generation technique to suppress the oscillatory dynamics with robustness to frequency changes is reviewed.
Journal ArticleDOI
Convolved and simultaneous two-mode input shapers
TL;DR: Techniques for designing the impulse sequence for two-mode systems are presented and properties of the various techniques are compared as a function of the mode ratio.
Tutorial on Input Shaping/Time Delay Control of Maneuvering Flexible Structures
Tarunraj Singh,William Singhose +1 more
TL;DR: In this paper, the authors present techniques to shape the input to the system so as to minimize the residual vibration of the structure, which is the desired objective in a variety of applications.
References
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Book
Automatic Control Systems
TL;DR: This new edition of Automatic Control Systems features a new, accessible approach for students taking introductory courses on control systems while retaining the depth and rigor of Benjamin Kuos classic, best-selling text.
Book
Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Journal ArticleDOI
Preshaping Command Inputs to Reduce System Vibration
Neil C. Singer,Warren P. Seering +1 more
TL;DR: In this paper, a method for generating shaped command inputs which significantly reduce or eliminate endpoint vibration is presented for the Space Shuttle Remote Manipulator System simulator (DRS), where the desired system inputs are altered so that the system completes the requested move without residual vibration.
ReportDOI
Preshaping Command Inputs to Reduce System Vibration
Neil C. Singer,Warren P. Seering +1 more
TL;DR: In this article, a method for generating shaped command inputs which significantly reduce or eliminate endpoint vibration is presented for the Space Shuttle Remote Manipulator System simulator (DRS), which can be applied to both open and closed loop systems.
Proceedings ArticleDOI
Vibration control of a two-link flexible robot arm
K.L. Hillsley,S. Yurkovich +1 more
TL;DR: Analysis and experimentation are described for a two-link apparatus in which both members are very flexible and the vibration control problem for fine motion endpoint positioning is considered separately from the gross motion, large angle skew problem.