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TECHNICAL BRIEFS

Performance Measures For Input Shaping and Command Generation

[+] Author and Article Information
Kris Kozak

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, China

William Singhose, Imme Ebert-Uphoff

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332-0405

J. Dyn. Sys., Meas., Control 128(3), 731-736 (Jun 18, 2005) (6 pages) doi:10.1115/1.2234493 History: Received May 12, 2004; Revised June 18, 2005

Many performance measures for input shaping and command generation have appeared in the literature, but very rarely have these measures been critically evaluated or thoroughly discussed. In this paper we review and discuss a number of key measures of residual vibration. These measures are clarified, and mathematical and graphical interpretations of these measures are developed. In addition, a set of energy-based vibration measures are presented for use in even the most general situations, such as measuring the vibration of a nonlinear, multimode system in response to an arbitrary command.

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Copyright © 2006 by American Society of Mechanical Engineers
Topics: Vibration
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References

Figures

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Figure 1

Impulse response and measurement of residual vibration

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Figure 2

Dissipation envelopes for response to non-impulse commands

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Figure 3

Impulse response to a poorly designed input shaper

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Figure 4

Energy-based dissipation envelope

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Figure 5

Simple nonlinear system response

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