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TECHNICAL BRIEFS

Learning Input Shaping Technique for Non-LTI Systems

[+] Author and Article Information
Juyi Park, Pyung-Hun Chang

J. Dyn. Sys., Meas., Control 123(2), 288-293 (Nov 05, 1998) (6 pages) doi:10.1115/1.1367334 History: Received November 05, 1998
Copyright © 2001 by ASME
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Figures

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The responses to the two-impulse sequence with inaccurate parameters; solid lines represent unit impulse responses; dotted lines represent the resultant responses to the two-impulse sequence with improper T2 or A1
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The variation of M and ϕ for T2 varying with A1 being fixed in (a); and for A1 varying with T2 being fixed in (b)
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The flow-chart of Learning Input Shaping Technique (LIST)
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(a) and (b) represent the relationship between of two parameters which were used in previous trials, and (c) and (d) represent the updating rules for the each case
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Mk+1 becomes larger than Mk when the parameter is updated improperly
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Three possible cases under minimum condition (10)
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The schematic of a P-control system where the saturation limit is included
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Simulation results: the change of residual vibrations. Residual vibrations become smaller and smaller as the number of iterations increases.
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Simulation results: M decreases as the number of iterations increases
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Three possible cases for Mk≈Mk−1: in (a), Mk+1≈Mk; in (b), Mk+1<Mk; in (c), Mk+1>Mk
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The shape of M-curve at its minimum: (a) When Mminimum=0; (b) when Mminimum>0. To the deviation in pk from pn, the already high sensitivity of M in (a) becomes even higher in case (b).
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The schematic diagram of the six-D.O.F robot which is used for experiment: the axes of wrist were omitted
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Experimental setups used for the LIST. The learning process is done on the IBM-PC 486.
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Experimental results: the change in residual vibrations. Residual vibrations become smaller and smaller as the number of iterations increases.
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Experimental results: the M decreases as the number of iterations increases

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