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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Grahic Jump Location
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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