Minimizing Residual Vibrations in Flexible Systems
Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6800 |
| _version_ | 1811073406987141120 |
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| author | Rappole, B. Whitney, Jr. |
| author_facet | Rappole, B. Whitney, Jr. |
| author_sort | Rappole, B. Whitney, Jr. |
| collection | MIT |
| description | Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator. |
| first_indexed | 2024-09-23T09:32:35Z |
| id | mit-1721.1/6800 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:32:35Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/68002019-04-12T08:32:20Z Minimizing Residual Vibrations in Flexible Systems Rappole, B. Whitney, Jr. input shaping vibration suppression robots spacesstructures adaptive Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator. 2004-10-20T19:55:29Z 2004-10-20T19:55:29Z 1992-06-01 AITR-1371 http://hdl.handle.net/1721.1/6800 en_US AITR-1371 122 p. 20616630 bytes 7330468 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | input shaping vibration suppression robots spacesstructures adaptive Rappole, B. Whitney, Jr. Minimizing Residual Vibrations in Flexible Systems |
| title | Minimizing Residual Vibrations in Flexible Systems |
| title_full | Minimizing Residual Vibrations in Flexible Systems |
| title_fullStr | Minimizing Residual Vibrations in Flexible Systems |
| title_full_unstemmed | Minimizing Residual Vibrations in Flexible Systems |
| title_short | Minimizing Residual Vibrations in Flexible Systems |
| title_sort | minimizing residual vibrations in flexible systems |
| topic | input shaping vibration suppression robots spacesstructures adaptive |
| url | http://hdl.handle.net/1721.1/6800 |
| work_keys_str_mv | AT rappolebwhitneyjr minimizingresidualvibrationsinflexiblesystems |