Effects of input shaping on two-dimensional trajectory following

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 6, 1996, Pages 881-887

  Singhose, William E ^a   Singer, Neil C ^b  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b Convolve Inc ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER CONTROL; FREQUENCY RESPONSE; MACHINE VIBRATIONS; MATHEMATICAL MODELS; POSITION CONTROL;

CONVOLUTION; INPUT SHAPING; RESIDUAL VIBRATION; TWO DIMENSIONAL TRAJECTORY FOLLOWING;

VIBRATION CONTROL;

EID: 0030395372     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.544771     Document Type: Article

References (24)

1. A. K. Banerjee, "Dynamics and control of the WISP shuttle-antennae system," J. Astronautical Sci., vol. 1, pp. 73-90, 1993.
2. A. K. Banerjee and W. E. Singhose, "Minimum time fuel efficient maneuver of flexible spacecraft with vibration amplitude constraint," in AAS/AIAA Astrodynamics Specialist Conf., Halifax, Nova Scotia, Canada, vol. AAS95-318, 1995.
3. S. P. Bhat and D. K. Miu, "Precise point-to-point positioning control of flexible structures," ASME J. Dynamic Syst., Meas., Contr., vol. 4, pp. 667-674, 1990.
4. R. E. Bolz and G. L. Tuve, CRC Handbook of Tables for Applied Engineering Science. Boca Raton, FL: CRC, 1973.
5. V. Drapeau and D. Wang, "Verification of a closed-loop shaped-input controller for a five-bar-linkage manipulator," in IEEE Int. Conf. Robotics and Automation, Atlanta, GA, 1993.
6. K. L. Hillsley and S. Yurkovich, "Vibration control of a two-link flexible robot arm," J. Dynamics Contr., vol. 3, pp. 261-280, 1993.
7. J. M. Hyde and W. P. Seering, "Using input command pre-shaping to suppress multiple mode vibration," in IEEE Int. Conf. Robotics and Automation, Sacramento, CA, 1991, pp. 2604-2609.
8. J. F. Jansen, "Control and analysis of a single-link flexible beam with experimental verification," Oak Ridge Nat. Lab., ORNL/TM-12198, 1992.
9. S. D. Jones, "Quantification and reduction of dynamically induced errors in coordinate measuring Machines," Ph.D. dissertation, Univ. of Michigan, Ann Arbor, MI, 1993.
10. Q. Liu and B. Wie, "Robust time-optimal control of uncertain flexible spacecraft," J. Guidance, Contr., Dynamics, vol. 15, no. 3, pp. 597-604, 1992.
11. U. P. Magee and W. J. Book, "Filtering Schilling manipulator commands to prevent flexible structure vibration," in Amer. Contr. Conf., Baltimore, MD, 1994, pp. 2538-2542.
12. L. Y. Pao, "Characteristics of the time-optimal control of flexible structures with damping," in IEEE Conf. Control Applications, Glasgow, Scotland, 1994, pp. 1299-1304.
13. B. W. Rappole, N. C. Singer, and W. P. Seering, "Multiple-mode impulse shaping sequences for reducing residual vibrations," in ASME Mechanisms Conf., Minneapolis, MN, vol. DE-71, pp. 11-16, 1994.
14. Z. Schiller and H. Chang, "Trajectory preshaping for high-speed articulated systems," ASME J. Dynamic Syst., Meas., Contr., vol. 3, 1995.
15. N. Scth, K. S. Rattan, and R. W. Brandstetter, "Vibration control of a coordinate measuring machine," in IEEE Conf. Control Applications, Dayton, OH, 1993, pp. 368-373.
16. N. C. Singer, "Residual vibration reduction in computer controlled machines," MIT Artificial Intell. Lab. Tech. Rep. AITR-1030, 1989.
17. N. C. Singer and W. P. Seering, "Preshaping command inputs to reduce system vibration," ASME J. Dynamic Syst., Meas., Contr., vol. 112, pp. 76-82, Mar. 1990.
18. T. Singh and S. R. Vadali, "Robust time-optimal control: A frequency domain approach," J. Guidance, Contr., Dynamics, vol. 17, no. 2, pp. 346-353, 1994.
19. W. Singhose, S. Derezinski, and N. Singer, "Extra-insensitive input shapers for controlling flexible spacecraft," AIAA J. Guidance, Contr., Dynamics, vol. 19, no. 2, pp. 385-391, 1996.
20. W. Singhose, L. Porter, T. Tuttle, and N. Singer, "Vibration reduction using multi-hump extra-insensitive input shapers," J. Dynamic Syst., Meas., Contr., to be published.
21. W. Singhose, W. Seering, and N. Singer, "Shaping inputs to reduce vibration: A vector diagram approach," in IEEE Conf. Robotics and Automation, Cincinnati, OH, 1990, pp. 922-927.
22. _, "Residual vibration reduction using vector diagrams to generate shaped inputs," ASME J. Mechanical Design, vol. 116, pp. 654-659, June 1994.
23. W. Singhose. N. Singer, and W. Seering, "Time-optimal negative input shapers," J. Dynbamic Syst., Meas., Contr., to be published.
24. T. D. Tuttle and W. P. Seering, "A zero-placement technique for designing shaped inputs to suppress multiple-mode vibration," in Amer. Contr. Conf., Baltimore, MD, 1994, pp. 2533-2537.