Vibration control of flexible arm by input shaping based on wave model

Hiroki Nagashima, Seiichiro Katsura

研究成果: Article査読


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.

ジャーナルSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
出版ステータスPublished - 2017

ASJC Scopus subject areas

  • 機械工学


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