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The flexibility of the mechanical system is one of the factors of the bandwidth limitation. Especially, it is known that an out-of-phase vibration mode makes the closed loop unstable with the negative feedback of the positioning error. In this paper, a novel mode shaping method for in-phase design of flexible structures is proposed. From the relation between the modal analysis and the state-space representation, we classify in-phase mode shaping into two types based on the boundary which is passed across during the shaping process. By the proposed method, the out-of-phase modes are shaped into in-phase in order of the natural frequencies applying a task priority based modification scheme. We also propose a method of selecting the boundary, so that the vibration mode is shaped into the arbitrary type of in-phase design.
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Volume:2 )
Date of Conference: 2001