VIBRATION REDUCTION IN FLEXIBLE SYSTEMS USING A TIME-VARYING IMPULSE SEQUENCE

被引：20

作者：

CHO, JK

PARK, YS

机构：

[1] Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Taejeon, 305 701, Science Town

来源：

ROBOTICA | 1995年 / 13卷

关键词：

FLEXIBLE SYSTEMS; VIBRATION REDUCTION; INPUT SHAPING TECHNIQUE; TIME-VARYING IMPULSE SEQUENCE; 2-LINK ROBOT; OVERHEAD CRANE;

D O I：

10.1017/S0263574700017835

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

An input shaping technique using a time-varying impulse sequence is presented to reduce the motion-induced vibration of flexible systems in a feedforward way. The decoupled modal responses for a general linear time-varying system are firstly approximated. Upon this approximation, the time-varying impulse sequences to suppress the vibrational modes are found. The reference inputs to the systems are shaped by convolving with the time-varying impulse sequence to suppress the multimode vibrations. This technique can be also applied to suppress the vibration of nonlinear time-varying systems. The performance of this method is demonstrated with two practical examples: a moving overhead crane and a two-link robot manipulator. Consequently, this study provides an input shaping technique applicable to the vibration suppression of broader classes of flexible systems.

引用

页码：305 / 313

页数：9

共 20 条

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