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Öğe Comparison of Robust Input Shapers for Elimination of Residual Vibrations(Trans Tech Publications Ltd, 2014) Conker, Caglar; Yavuz, Hakan; Kapucu, Sadettin; Baltacioglu, Mustafa Kaan; Arat, Huseyin Turan; Burgac, AlperInput shaping is a feedforward control technique for improving the settling time and positioning accuracy, while minimizing residual vibrations. Shaped command profiles are generated by convolving a sequence of impulses. To design an input shaping controller, estimates of the system natural frequency and damping ratio are required. However, real systems cannot be modeled exactly, making the robustness to modeling errors an important consideration. Many robust input shapers have been developed, but robust shapers typically have longer durations that slow the system response. This creates a compromise between shaper robustness and rise time. This paper analyses the compromise between shaper duration and robustness for several robust input shapersÖğe An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators(Assoc Mechanical Engineers Technicians Slovenia, 2014) Conker, Caglar; Kilic, Ali; Mistikoglu, Selcuk; Kapucu, Sadettin; Yavuz, HakanOne method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.Öğe Hybrid input shaping to suppress residual vibration of flexible systems(Sage Publications Ltd, 2012) Yavuz, Hakan; Mistikoglu, Selcuk; Kapucu, SadettinThis paper presents hybrid input shaping method to eliminate residual vibration of multi-mode flexible systems. This method, initially designed for one degree of systems, is modified to apply on linear and nonlinear multi-mode systems. In this method, firstly the flexible system is uncoupled using modal analysis method, and then the parameters of the decoupled system are used to shape the command template signal. A ramp plus ramped cycloid plus ramped versine is proposed as the command template signal to be preshaped. The template function is preshaped to yield zero residual vibration for point to point motion and then the resulting trajectory is convolved with a sequence of two impulses to obtain a twice shaped input. The proposed method is applied to eliminate residual vibration of a linear multimass and flexible joint manipulator types of systems. Simulation results show that the oscillations are considerably decreased with a high degree of robustness in the presence of system parameters uncertainty.Öğe Suppression of residual vibration of a translating-swinging load by a flexible manipulator(Pergamon-Elsevier Science Ltd, 2008) Kapucu, Sadettin; Yildirim, Nihat; Yavuz, Hakan; Baysec, SedatThis paper presents the use of a command shaping method to eliminate residual vibrations of single-input multi-mode flexible systems for point-to-point motion. A ramp-plus-ramped cycloid-plus-ramped versine is proposed as the command template signal to be shaped. The template function is reshaped using the system's lowest natural frequency and damping ratio to yield almost zero residual vibration. The proposed method is then compared with the well known input shaping technique and its applicability is shown by experimental results. The results show that the proposed method is quite effective for fast point-to-point motion. (c) 2007 Elsevier Ltd. All rights reserved.
