Minimizing Residual Vibrations in Flexible Systems

Title: en_US Minimizing Residual Vibrations in Flexible Systems
Creator: en_US Rappole, B. Whitney, Jr.
Date: 2004-10-20T19:55:29Z
Date Available: 2004-10-20T19:55:29Z
Date Issued: en_US 1992-06-01
Identifier: en_US AITR-1371
uri: http://hdl.handle.net/1721.1/6800
Abstract: en_US Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator.
Extent: en_US 122 p.; 20616630 bytes; 7330468 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1371
Subject: en_US input shaping; en_US vibration suppression; en_US robots; en_US spacesstructures; en_US adaptive