Multiple Mode Vibration Suppression in Controlled Flexible Systems

摘要

Spacecraft, space-borne robotic systems, and manufacturing equipment often utilize lightweight materials and configurations that give rise to vibration problems. Prior research has led to the development of input command preshapers that can significantly reduce residual vibration. These shapers exhibit marked insensitivity to errors in natural frequency estimates and can be combined to minimize vibration at more than one natural frequency. In this work we present a method for the development of multiple mode input shapers which are simpler to implement and produce smaller system response delays than previous multiple mode designs. The new technique involves the direct solution of a group of simultaneous non-linear impulse constraint equations.... Vibration, Robotics, Oscillation, Flexible manipulators.