Preshaping Command Inputs to Reduce System Vibration

Abstract

A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop systems. The Draper Laboratory's Space Shuttle Remote Manipulator System simulator (DRS) is used to evaluate the method. Results show a factor of 25 reduction in endpoint residual vibration for typical moves of the DRS. Keywords: Spacecraft components; Space shuttles; Vibrations; Oscillations; Teleoperators; Flexible manipulators.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1988
Accession Number
ADA208153

Entities

People

  • Neil C. Singer
  • Warren P. Seering

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Artificial Intelligence
  • Classification
  • Closed Loop Systems
  • Computer Science
  • Filters
  • Frequency
  • Frequency Shift
  • Linear Systems
  • Nonlinear Systems
  • Oscillation
  • Resonant Frequency
  • Schematic Diagrams
  • Simulations
  • Space Shuttles
  • Trajectories
  • Vibration

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers