Experimental Evaluation of Command Shaping Techniques for Vibration Control of a Flexible Manipulator  

Oleh:

Mohamed, Z. ; Tokhi M.O.

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 948-953.
Topik: Experimental Evaluation; Shaping Techniques; Vibration Control; Flexible Manipulator
Fulltext: AC021091.PDF (161.05KB)

Isi artikel

This paper presents experimental investigations into the development of feed-forward control strategies for vibration control of a flexible manipulator using command shaping techniques based on input shaping, low-pass and band-stop filtering. A laboratory scale single-link flexible manipulator is utilised. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the control techniques. Experimental results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the control techniques are assessed in terms of level of vibration reduction at resonance modes, time response specifications and robustness. A comparative assessment of the input shaping and input-filtering techniques is presented and discussed.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali