an extension of command shaping methods for controlling residual vibration using frequency samplingThe authors present an extension to the impulse shaping technique for commanding machines to move with reduced residual vibration. The extension, called frequency sampling, is a method for generating constraints that are used to obtain shaping sequences which minimize residual vibration in systems such as robots whose resonant frequencies change during motion. The authors present a review of impulse shaping methods, a development of the proposed extension, and a comparison of results of tests conducted on a simple model of the space shuttle robot arm. Frequency shaping provides a method for minimizing the impulse sequence duration required to give the desired insensitivity.
Singer, Neil C. (Convolve, Inc. New York, United States)
Seering, Warren P. (MIT Cambridge, MA, United States)
August 16, 2013
January 1, 1992
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 1 (A93-35501 13-63)