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Input shaping for feedforward control of a flexible polymethyl methacrylate beam manipulator
Bajwa Roodra Pratap Singh,
Published in Trans Tech Publications Ltd
Volume: 592-594
Pages: 2160 - 2164
The objective of this research work is to model a dynamical system that can undergo flexible deformations along with the general rigid-body motions. For the system to be able to provide precise outputs when excited by an input, the modal shapes need to be examined and a suitable control strategy is required to make the manipulator to adapt to a particular use. The input shaping parameters have been analyzed for specific modes of vibrations. The model uses a Gaussian input torque and Power Spectral Density (PSD) plots are developed with suitable sampling frequency. The plots show the variation of PSD for the modes of vibration under consideration, thereby providing an insight into the shaping parameters of the Gaussian input. © (2014) Trans Tech Publications, Switzerland.
About the journal
JournalApplied Mechanics and Materials
PublisherTrans Tech Publications Ltd
Open AccessNo
Concepts (11)
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    Dynamical systems
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    Industrial research
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    Polymethyl methacrylates
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    Power spectral density
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    Flexible links
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    Open loop control
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    Computer control systems