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dc.contributor.authorSinger, Neilen_US
dc.contributor.authorSeering, Warrenen_US
dc.date.accessioned2004-10-04T14:36:53Z
dc.date.available2004-10-04T14:36:53Z
dc.date.issued1988-01-01en_US
dc.identifier.otherAIM-1027en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/6048
dc.description.abstractA 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.en_US
dc.format.extent25 p.en_US
dc.format.extent3035615 bytes
dc.format.extent1100670 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAIM-1027en_US
dc.subjectvibrationsen_US
dc.subjectoscillationsen_US
dc.subjectteleoperatorsen_US
dc.subjectflexiblesmanipulatorsen_US
dc.titlePreshaping Command Inputs to Reduce System Vibrationen_US


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