Extraction of optimal time-delay in adaptive command shaping filter for flexible manipulator control

Journal of Institute of Control, Robotics and Systems

Volumn 14, Issue 6, 2008, Pages 564-572

  Park, Joo Han ^a   Rhim, Sungsoo ^a  

^a NONE

Author keywords

Adaptation; Flexible manipulator; Time delay command shaping filter; Vibration

Indexed keywords

ADAPTATION; ADAPTATION SCHEME; ADAPTIVE COMMAND SHAPING; COMMAND SHAPING; FLEXIBLE MOTION; OPTIMAL VALUES; VIBRATION; VIBRATION SUPPRESSION;

FLEXIBLE MANIPULATORS;

TIME DELAY;

EID: 65949088023     PISSN: 19765622     EISSN: None     Source Type: Journal    
DOI: 10.5302/J.ICROS.2008.14.6.564     Document Type: Article

References (9)

1. N. C. Singer and W. P. Seering, "Preshaping command inputs to reduce system vibration," ASME J. of Dynamic Systems, Measurement, and Control, vol. 112, pp. 76-82, 1990.
2. N. C. Singer, W. Singhose, and W. Seering, "Comparison of filtering methods for reducing residual vibrations," European J. of Control, vol. 5, pp. 210-218, 1999.
3. A. Tzes and S. Yurkovich, "An adaptive input shaping control scheme for vibration suppression in slewing flexible structures," IEEE Trans. on Control System Technology, vol. 1, pp. 114-121, 1993.
4. D. P. Magee and W. J. Book, "Optimal filtering to minimize elastic behavior in serial lnk mManipulators," Proc. of American Control Conference, PA, USA, pp. 2652-2656, 1998.
5. M. Bodson, "An adaptive algorithm for the tuning of two input shaping methods," Automatica, vol. 34, pp. 771-776, 1998.
6. S. Rhim and W. J. Book, "Vibration suppression of a flexible manipulator using adaptive time-delay command shaping filter," IEEE/ASME Trans. on Mechatronics, vol. 9, pp. 619-626, 2004.
7. S. Haykin, Adaptive Filter Theory, NJ, USA, Prentice Hall, 1996.
8. L. Ljung, System Identification-Theory for the User, NJ, USA, Prentice Hall PTR, 1996.
9. S. Rhim and W. J. Book, "Noise dffect on time-domain adaptive command shaping methods for flexible manipulator control," IEEE Trans. on Control System Technology, vol. 9(1), pp. 84-92, 2001.