Residual Vibration Reduction in Computer Controlled Machines

Item

Title
en_US Residual Vibration Reduction in Computer Controlled Machines
Creator
en_US Singer, Neil C.
Date
2004-10-20T20:02:05Z
Date Available
2004-10-20T20:02:05Z
Date Issued
en_US 1989-02-01
Identifier
en_US AITR-1030
uri
http://hdl.handle.net/1721.1/6844
Abstract
en_US Control of machines that exhibit flexibility becomes important when designers attempt to push the state of the art with faster, lighter machines. Three steps are necessary for the control of a flexible planet. First, a good model of the plant must exist. Second, a good controller must be designed. Third, inputs to the controller must be constructed using knowledge of the system dynamic response. There is a great deal of literature pertaining to modeling and control but little dealing with the shaping of system inputs. Chapter 2 examines two input shaping techniques based on frequency domain analysis. The first involves the use of the first deriviate of a gaussian exponential as a driving function template. The second, acasual filtering, involves removal of energy from the driving functions at the resonant frequencies of the system. Chapter 3 presents a linear programming technique for generating vibration-reducing driving functions for systems. Chapter 4 extends the results of the previous chapter by developing a direct solution to the new class of driving functions. A detailed analysis of the new technique is presented from five different perspectives and several extensions are presented. Chapter 5 verifies the theories of the previous two chapters with hardware experiments. Because the new technique resembles common signal filtering, chapter 6 compares the new approach to eleven standard filters. The new technique will be shown to result in less residual vibrations, have better robustness to system parameter uncertainty, and require less computation than other currently used shaping techniques.
Extent
en_US 227 p.
20780004 bytes
8004422 bytes
Format
application/postscript
application/pdf
Language
en_US
Relation
en_US AITR-1030
Subject
en_US vibrations
en_US oscillations
en_US teleoperators
en_US flexible manipulators
Item sets
AI Technical Reports (1964 - 2004)