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TECHNICAL BRIEFS

Reference Command Shaping Using Specified-Negative-Amplitude Input Shapers for Vibration Reduction

[+] Author and Article Information
William Singhose, Erika Ooten Biediger, Ye-Hwa Chen

Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA

Bart Mills

Sony Corporation, Springfield, OR 97477

J. Dyn. Sys., Meas., Control 126(1), 210-214 (Apr 12, 2004) (5 pages) doi:10.1115/1.1650385 History: Received January 21, 2002; Revised July 16, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Smith, O. J. M., 1958, Feedback Control Systems, New York: McGraw-Hill Book Co., Inc.
Singer,  N. C., and Seering,  W. P., 1990, “Preshaping Command Inputs to Reduce System Vibration,” J. Dyn. Sys., Meas. Control,112, pp. 76–82.
Singhose,  W., Seering,  W., and Singer,  N., 1994, “Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs,” J. Mech. Des.,116, pp. 654–659.
Drapeau, V., and Wang, D., 1993, “Verification of a Closed-Loop Shaped-Input Controller for a Five-Bar-Linkage Manipulator,” presented at IEEE Int. Conf. on Robotics and Automation, Atlanta, GA.
Magee, D. P., and Book, W. J., 1995, “Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion,” presented at American Control Conf., Seattle, WA.
Kress, R. L., Jansen, J. F., and Noakes, M. W., 1994, “Experimental Implementation of a Robust Damped-Oscillation Control Algorithm on a Full Sized, Two-DOF, AC Induction Motor-Driven Crane,” presented at 5th ISRAM, Maui, HA.
Singer, N., Singhose, W., and Kriikku, E., 1997, “An Input Shaping Controller Enabling Cranes to Move Without Sway,” presented at ANS 7th Topical Meeting on Robotics and Remote Systems, Augusta, GA.
deRoover, D., Sperling, F. B., and Bosgra, O. H., 1998, “Point-to-Point Control of a MIMO Servomechanism,” presented at American Control Conference, Philadelphia, PA.
Tuttle, T. D., and Seering, W. P., 1994, “A Zero-Placement Technique for Designing Shaped Inputs to Suppress Multiple-Mode Vibration,” presented at American Control Conf., Baltimore, MD.
Murphy,  B. R., and Watanabe,  I., 1992, “Digital Shaping Filters for Reducing Machine Vibration,” IEEE Trans. Rob. Autom., 8, pp. 285–289.
Singhose,  W., Singer,  N., and Seering,  W., 1997, “Time-Optimal Negative Input Shapers,” J. Dyn. Syst., Meas. Control,119, pp. 198–205.
Obergfell, K., 1998, “End-Point Position Sensing and Control of Flexible Multi-Link Manipulators,” Atlanta: Georgia Institute of Technology.

Figures

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Input shaping a step input
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Input shaper sensitivity curves
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High-mode sensitivity curves
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Duration of the SNA ZV shaper
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SNA ZV high-mode excitation
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Duration of the SNA ZVD shaper
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Impulse time locations of the SNA ZVD shaper (b=−1)
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SNA ZVD high-mode excitation
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Experimental results from robotic manipulator

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