Suppression of residual vibration of a translating-swinging load by a flexible manipulator
Yükleniyor...
Tarih
2008
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Pergamon-Elsevier Science Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This 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.
Açıklama
Anahtar Kelimeler
command shaping, residual vibration, multi-mode, lightly damped system
Kaynak
Mechatronics
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
18
Sayı
3
