Efficient control of a flexible robot arm by shaped inputs

C. F. Kuo, Chen-Yuan Kuo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Preshaping of input commands to a physical system is a well-known method to reduce vibrations induced in the system. In this paper, input shaping, often considered as an open loop vibration control concept, is combined with a feedback control structure to reduce residual vibrations in a flexible robot arm. Computer simulations show that this approach can achieve good performance with a closed loop bandwidth that is effectively six times the value of the first colocated zero.

Original languageEnglish (US)
Title of host publicationActive Control of Noise and Vibration - 1992
PublisherPubl by ASME
Pages261-270
Number of pages10
ISBN (Print)0791810933
StatePublished - Dec 1 1992
EventWinter Annual Meeting of the American Society of Mechanical Engineers - Anaheim, CA, USA
Duration: Nov 8 1992Nov 13 1992

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume38

Other

OtherWinter Annual Meeting of the American Society of Mechanical Engineers
CityAnaheim, CA, USA
Period11/8/9211/13/92

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ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Kuo, C. F., & Kuo, C-Y. (1992). Efficient control of a flexible robot arm by shaped inputs. In Active Control of Noise and Vibration - 1992 (pp. 261-270). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 38). Publ by ASME.