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Input preshaping with frequency domain information for flexible-link manipulator controlThe application of an input preshaping scheme to flexible manipulators is considered. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration free output. The robustness of the algorithm with respect to injected disturbances and modal frequency variations is not satisfactory and can be improved by convolving the input with a longer sequence of impulses. The incorporation of the preshaping scheme to a closed-loop plant, using acceleration feedback, offers satisfactory disturbance rejection due to feedback and cancellation of the flexible mode effects due to the preshaping. A frequency domain identification scheme is used to estimate the modal frequencies on-line and subsequently update the spacing between the impulses. The combined adaptive input preshaping scheme provides the fastest possible slew that results in a vibration free output.
Document ID
19890065278
Document Type
Conference Paper
Authors
Tzes, Anthony (Ohio State Univ. Columbus, OH, United States)
Englehart, Matthew J. (Ohio State Univ. Columbus, OH, United States)
Yurkovich, Stephen (Ohio State University Columbus, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
CYBERNETICS
Report/Patent Number
AIAA PAPER 89-3565
Meeting Information
AIAA Guidance, Navigation and Control Conference(Boston, MA)
Funding Number(s)
CONTRACT_GRANT: NAG1-720
Distribution Limits
Public
Copyright
Other