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Open-loop control using command generation techniques

Open-loop control using command generation techniques

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This chapter presents open-loop command-generation techniques for control of flexible manipulators based on filtered input, Gaussian-shaped input and input shaping. The assumption is that the motion itself is the main source of system vibration. Thus, torque profiles, which do not contain energy at system natural frequencies do not excite structural vibration and hence incur no additional settling time. Accordingly, shaped torque inputs, including Gaussian-shaped, low-pass and bandstop filtered torque input functions and input shaping profiles, are developed on the basis of identified resonance mode frequencies of the system using parametric and non-parametric modelling methods. Case study exercises assessing performances of these control strategies are presented and discussed. Performances of the techniques are assessed in terms of level of vibration reduction at the natural frequencies, time response specifications and robustness to natural frequency variation and effects of various loading conditions.

Chapter Contents:

  • 8.1 Introduction
  • 8.2 Identification of natural frequencies
  • 8.2.1 Analytical approach
  • 8.2.2 Experimental approach
  • 8.2.3 Genetic modelling
  • 8.2.4 Neural modelling
  • 8.2.5 Natural frequencies from the genetic and neural modelling
  • 8.3 Gaussian-shaped torque input
  • 8.4 Input torque shaping
  • 8.5 Filtered torque input
  • 8.6 Case studies
  • 8.6.1 Case study 8.1: unshaped bang-bang torque input
  • 8.6.2 Case study 8.2: shaped torque input
  • 8.6.3 Case study 8.3: Gaussian-shaped input
  • 8.6.4 Case study 8.4: filtered torque input
  • 8.6.5 Case study 8.5: system with payload
  • 8.6.6 Comparative performance assessment
  • 8.7 Summary

Inspec keywords: Gaussian processes; open loop systems; flexible manipulators

Other keywords: open-loop command-generation techniques; open-loop control; nonparametric modelling methods; time response specifications; vibration reduction; Gaussian-shaped input shaping; flexible manipulator control; natural frequencies; structural vibration

Subjects: Manipulators; Other topics in statistics

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