Preshaping Command Inputs to Reduce System Vibration

[+] Author and Article Information
N. C. Singer, W. P. Seering

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Dyn. Sys., Meas., Control 112(1), 76-82 (Mar 01, 1990) (7 pages) doi:10.1115/1.2894142 History: Received April 13, 1988; Online March 17, 2008


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.

Copyright © 1990 by The American Society of Mechanical Engineers
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