CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThis paper describes the experimental results of an open loop control technique applied to a flexible manipulator, specially designed for space duties, in order to reduce the residual vibrations at the end of the positioning. The experimental set up is a system with two flexible links with rectangular section connected by rotational joints. First, the experimental identification of the system parameters has been carried out. Then, four different motion inputs have been implemented. The performances of these motion inputs are compared in terms of residual vibration at the end of the positioning. The experimental results confirm the effectiveness of the motion input pre shaping technique in the reduction of the residual vibrations.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
| Titolo: | Open-Loop Control of a Flecible Manipulator with Two Links: Experimental Results |
| Autori: | |
| Data di pubblicazione: | 2001 |
| Abstract: | This paper describes the experimental results of an open loop control technique applied to a flexible manipulator, specially designed for space duties, in order to reduce the residual vibrations at the end of the positioning. The experimental set up is a system with two flexible links with rectangular section connected by rotational joints. First, the experimental identification of the system parameters has been carried out. Then, four different motion inputs have been implemented. The performances of these motion inputs are compared in terms of residual vibration at the end of the positioning. The experimental results confirm the effectiveness of the motion input pre shaping technique in the reduction of the residual vibrations. |
| Handle: | http://hdl.handle.net/11571/10427 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
Copyright © 2021