Authors: JooHan Park Sungsoo Rhim
Publish Date: 2009/05/20
Volume: 23, Issue: 4, Pages: 997-1000
Abstract
In the previously introduced direct adaptive command shaping filter ACSF the timedelay value is fixed and only the magnitudes of the impulses are learned The performance of the direct adaptive timedelay command shaping filter however depends on the select timedelay In this paper the authors introduce a new scheme to extract the optimal timedelay value for the improved vibration suppression in flexible motion system To develop the optimal timedelay extraction scheme the authors have analyzed the effect of the timedelay value on the performance of the direct ACSF Based on the analysis result the authors have established a set of equations to extract the optimal timedelay toward the optimal vibration suppression performance of ACSF Experimental results using a gantry robot with a single flexible link show the effectiveness of the proposed timedelay adaptation approach for the improved vibration suppressionJoo Han Park received the BS and MS degrees in Mechanical Engineering from the Kyung Hee University Korea in 2005 and 2007 He is currently a candidate for the PhD at Kyung Hee University Korea His research interests include robotics and vibration controlSungsoo Rhim received his BS and MS degrees in Mechanical Engineering from Seoul National Univ Korea in 1990 and 1992 respectively He then received his PhD degree from Georgia Institute of Technology in 2000 He worked for CAMotion Inc in GA USA as Research Director from 2000 until 2003 and he is currently an Assistant Professor at the Dept of Mechanical Engineering in Kyung Hee Univ Korea His research interests include system dynamics control robotics and vibration
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