TY - JOUR
T1 - Vibration control of flexible arm by input shaping based on wave model
AU - Nagashima, Hiroki
AU - Katsura, Seiichiro
PY - 2017
Y1 - 2017
N2 - This paper proposes a method of vibration control of a flexible arm by input shaping based on wave model. Through the wave model which is one of the distributed parameter system, we can consider the infinite numbers of resonance in the flexible arm. Using the inverse system of the flexible arm, we design the input shaper for vibration suppression. Based on the frequency analysis, we show the characteristics of the proposed input shaper based on wave model. Using a single link flexible manipulator, the proposed method is compared with the conventional methods considering the finite numbers of the resonance frequency. From the experimental results, the effectiveness of the proposed method has been confirmed in terms of Root Mean Squared Error (RMSE) and the settling time. Keywords: vibration control, flexible manipulator, distributed parameter system, input shaping, wave model.
AB - This paper proposes a method of vibration control of a flexible arm by input shaping based on wave model. Through the wave model which is one of the distributed parameter system, we can consider the infinite numbers of resonance in the flexible arm. Using the inverse system of the flexible arm, we design the input shaper for vibration suppression. Based on the frequency analysis, we show the characteristics of the proposed input shaper based on wave model. Using a single link flexible manipulator, the proposed method is compared with the conventional methods considering the finite numbers of the resonance frequency. From the experimental results, the effectiveness of the proposed method has been confirmed in terms of Root Mean Squared Error (RMSE) and the settling time. Keywords: vibration control, flexible manipulator, distributed parameter system, input shaping, wave model.
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U2 - 10.2493/jjspe.83.593
DO - 10.2493/jjspe.83.593
M3 - Article
AN - SCOPUS:85020471363
SN - 0912-0289
VL - 83
SP - 593
EP - 598
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
IS - 6
ER -