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Residual vibration reduction for a flexible structure using a modified input shaping technique

Published online by Cambridge University Press:  06 September 2002

Ki-Seong Lee  and
Youn-sik Park
Ki-Seong Lee
Affiliation:
Center For Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (South Korea)
Youn-sik Park*
Affiliation:
Center For Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (South Korea)
*
E-mail: yspark@mail.kaist.ac.kr
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Summary

This paper presents a modified input shaping method to reduce the motion-induced vibration of a linear time-varying system after a rest-to-rest motion. Shaping parameters were obtained using the concept of modal-filtered impulse response. The conventional shaping method can be said just a special case of the proposed shaping method. The effectiveness of this proposing method was checked using some examples of both moderate and considerably fast time-varying systems. With a rest-to-rest motion control of a two-link flexible manipulator, this study also demonstrates that this method can be expanded to nonlinear cases.

Keywords

Vibration reductionInput shaping techniqueTime-varying impulse sequenceTwo-link manipulator

Information

Type
Research Article
Information
Robotica , Volume 20 , Issue 5 , September 2002 , pp. 553 - 561
Copyright
Copyright © Cambridge University Press 2002

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