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An extension of command shaping methods for controlling residual vibration using frequency sampling

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2 Author(s)
Singer, N.C. ; Convolve Inc., New York, NY, USA ; Seering, W.P.

The 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

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992

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