Accession Number : ADA290074

Title :   Minimizing Residual Vibrations in Flexible Systems.

Descriptive Note : Master's thesis,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Rappole, Bert W., Jr

PDF Url : ADA290074

Report Date : 21 MAY 1992

Pagination or Media Count : 120

Abstract : Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle Remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator. (MM)

Descriptors :   *VIBRATION, *ROBOTICS, *SPACECRAFT, *DAMPING, *FLEXIBLE STRUCTURES, COMPUTER PROGRAMS, ALGORITHMS, ACCELERATION, STIFFENING, THESES, SPACE SHUTTLES, LIGHTWEIGHT, SLEWING, MANIPULATORS.

Subject Categories : Cybernetics
      Unmanned Spacecraft
      Manned Spacecraft

Distribution Statement : APPROVED FOR PUBLIC RELEASE