Modified input shaping for a rotating single-link flexible manipulator

被引：67
|
作者：
Shan, JJ
Liu, HT
Sun, D
机构：
[1] Univ Toronto, Inst Aerosp Studies, Toronto, ON M3H 5T6, Canada
[2] City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China
来源：
JOURNAL OF SOUND AND VIBRATION | 2005年 / 285卷 / 1-2期
关键词：
D O I：
10.1016/j.jsv.2004.08.035
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
Input shaping is a feedforward approach and can be applied to suppress flexible vibration. In this paper, modified input shaping (MIS) is proposed for robustness and multimode vibration suppression. The theoretic analysis shows that the MIS poses better performance in several aspects than the traditional input-shaping technique. The controller that combines MIS with PD feedback law is designed for an experimental single-link flexible manipulator. Hardware experiments are conducted to verify the proposed method. (c) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：187 / 207
页数：21
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