Residual vibration reduction for a flexible structure using a modified input shaping technique

  • Authors:

  • Ki-Seong Lee;Youn-Sik Park

  • Affiliations:

  • Center For Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (South Korea) yspark@mail.kaist ...;Center For Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701 (South Korea) yspark@mail.kaist ...

  • Venue:
  • Robotica
  • Year:
  • 2002

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Abstract

This paper presents a modified input shaping method to reduce the motion-induced vibration of a linear time-varying system after a rest-to-rest motion. Shaping parameters were obtained using the concept of modal-filtered impulse response. The conventional shaping method can be said just a special case of the proposed shaping method. The effectiveness of this proposing method was checked using some examples of both moderate and considerably fast time-varying systems. With a rest-to-rest motion control of a two-link flexible manipulator, this study also demonstrates that this method can be expanded to nonlinear cases.