Preshaping Command Inputs to Reduce System Vibration

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6048

Full metadata record

DC Field	Value	Language
dc.creator	Singer, Neil	-
dc.creator	Seering, Warren	-
dc.date	2004-10-04T14:36:53Z	-
dc.date	2004-10-04T14:36:53Z	-
dc.date	1988-01-01	-
dc.date.accessioned	2013-10-09T02:42:34Z	-
dc.date.available	2013-10-09T02:42:34Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-1027	-
dc.identifier	http://hdl.handle.net/1721.1/6048	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop systems. The Draper Laboratory's Space Shuttle Remote Manipulator System simulator (DRS) is used to evaluate the method. Results show a factor of 25 reduction in endpoint residual vibration for typical moves of the DRS.	-
dc.format	25 p.	-
dc.format	3035615 bytes	-
dc.format	1100670 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-1027	-
dc.subject	vibrations	-
dc.subject	oscillations	-
dc.subject	teleoperators	-
dc.subject	flexiblesmanipulators	-
dc.title	Preshaping Command Inputs to Reduce System Vibration	-
Appears in Collections:	MIT Items

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