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- W2295629021 abstract "This chapter presents the development of open-loop command-generation techniques for control of flexible manipulators based on filtered input, Gaussian shaped input and input shaping and provides a comparative assessment of the performance of these techniques. It is assumed that the motion itself is the main source of system vibration. Thus, input torque profiles that do not contain energy at system natural frequencies will not excite system resonances and hence will not result in structural vibration. Accordingly, shaped torque inputs, including Gaussian shaped, low-pass and band-stop filtered torque input functions and input shaping profiles are developed on the basis of identified resonance modes of the system using parametric and non-parametric modelling methods. Experimental results verifying the performance of the developed control strategies are presented and discussed. Performances of the techniques are assessed in terms of level of vibration reduction at the natural frequencies, time response specifications and robustness to natural frequency variation. The effects of various loading conditions on the performance of the system are also studied." @default.
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- W2295629021 date "2008-01-01" @default.
- W2295629021 modified "2023-10-16" @default.
- W2295629021 title "Open-loop control of flexible manipulators using command-generation techniques" @default.
- W2295629021 doi "https://doi.org/10.1049/pbce068e_ch8" @default.
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