Preshaping Command Inputs to Reduce System Vibration

dc.creator	Singer, Neil
dc.creator	Seering, Warren
dc.date	2004-10-04T14:36:53Z
dc.date	2004-10-04T14:36:53Z
dc.date	1988-01-01
dc.date.accessioned	2013-10-09T02:42:34Z
dc.date.available	2013-10-09T02:42:34Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1027
dc.identifier	http://hdl.handle.net/1721.1/6048
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop systems. The Draper Laboratory's Space Shuttle Remote Manipulator System simulator (DRS) is used to evaluate the method. Results show a factor of 25 reduction in endpoint residual vibration for typical moves of the DRS.
dc.format	25 p.
dc.format	3035615 bytes
dc.format	1100670 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1027
dc.subject	vibrations
dc.subject	oscillations
dc.subject	teleoperators
dc.subject	flexiblesmanipulators
dc.title	Preshaping Command Inputs to Reduce System Vibration

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