EVALUATION OF INPUT SHAPING ON CONFIGURATION DEPENDENT SYSTEMS
EVALUATION OF INPUT SHAPING ON CONFIGURATION DEPENDENT SYSTEMS
复制标题
配置相关系统的输入整形评估
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
W. Seering
中科院分区：
文献类型：
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作者：
E. Crain;W. Singhose;W. Seering
输入整形是控制线性系统中残余振动的一种方法。由于输入整形可以对系统频率估计中的误差具有鲁棒性，因此它可能应用于某些类型的非线性系统。研究了输入整形的有效性，对一个非线性模型的柔性，两连杆机器人手臂。结果表明，整形是非常有效的，当系统具有小的频率变化。当系统经历大的频率变化时，成形仍然提供显著的减振效果。
Input shaping is a method for controlling residual vibration in linear systems. Because input shaping can be made robust to errors in the estimation of the system’s frequencies, it has possible applications on some types of nonlinear systems. The effectiveness of input shaping is investigated on a nonlinear model of a flexible, two-link robotic arm. Results indicate that shaping is very effective when the system has small frequency variations. When the system experiences large frequency changes, shaping still provides significant vibration reduction.