• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.127-133
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• 2001

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.

• 한국정밀공학회지
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• 제17권4호
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• pp.181-188
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• 2000

Input shaping is a method fur reducing residual vibration. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with the desired system command. It has been applied to robot with a flexible manipulator. But it can be applied to the reduction of residual vibration far overhead crane. In this paper, input shaping shows good performance for anti-sway of overhead crane. In the z-domain, we designed an input shaper and calculated the sensitivity of it. If sensitivity is calculated in the z-domain, the shapes of sensitivity curves are expected easily. Accordingly, it is easy to design an input shaper in the z-domain. We compared the response of a system with shaper to it without that. Also, we compared El shaper to ZV shaper in view of robustness.

• 대한기계학회논문집A
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• 제24권7호
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• pp.1854-1862
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• 2000

Input shaping method is to convolute input shaper, which is sequence of impulses, with reference input command not to excite the natural frequency of system. To reduce residual vibration for the ch ange of frequency, the number of impulses should be increased. Until now, amplitudes and time interval of those has been searched from the derivative of residual vibration. However, if time interval of impulses is fixed as the half of vibration period of system, input shaper H(z) in z-domain becomes (I-pz-1)n/K in which increasing n is the mean that robustness for change of parameter is improved. Also, design of many types of input shapers in z-domain is very easy because sensitivity curve is displayed with $\mid$H(z)zn$\mid$$\times$100. In the z-domain, EI(Extra-Insensitive) input shaper could be designed without solving nonlinear simultaneous equations as design in continuous time domain. In addition to, the design possibility of input shaper for a damped system was shown.