Open-loop control using command generation techniques
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.
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