Accession Number : ADA259444


Title :   Multiple Mode Vibration Suppression in Controlled Flexible Systems


Descriptive Note : Technical rept.,


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB


Personal Author(s) : Hyde, James M


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a259444.pdf


Report Date : May 1991


Pagination or Media Count : 153


Abstract : Spacecraft, space-borne robotic systems, and manufacturing equipment often utilize lightweight materials and configurations that give rise to vibration problems. Prior research has led to the development of input command preshapers that can significantly reduce residual vibration. These shapers exhibit marked insensitivity to errors in natural frequency estimates and can be combined to minimize vibration at more than one natural frequency. In this work we present a method for the development of multiple mode input shapers which are simpler to implement and produce smaller system response delays than previous multiple mode designs. The new technique involves the direct solution of a group of simultaneous non-linear impulse constraint equations.... Vibration, Robotics, Oscillation, Flexible manipulators.


Descriptors :   *VIBRATION , *ROBOTICS , FREQUENCY , SPACECRAFT , RESONANT FREQUENCY , RESIDUALS , CONFIGURATIONS , LIGHTWEIGHT , OSCILLATION , MANIPULATORS


Subject Categories : Mechanics
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE