日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences
英文:
巻, 号, ページ
Vol. 56
No. 652
出版年月
2008年4月
出版者
和文:
社団法人 日本航空宇宙学会
英文:
会議名称
和文:
英文:
開催地
和文:
英文:
アブストラクト
In flexible long arm operation, residual vibration due to excitation degrades working efficiency. Input Shaping method decreases residual vibration in flexible systems by filtering the reference command with sequence of impulses known as input shaper. The principle of Input Shaping is very simple, but it is necessary to consider implementation hardware, especially in the space system. In this paper, ground experimental setup of an 8m long space robotic arm is constructed, and the effect on vibration suppression using Input Shaping is considered. The results of the ground experiment are discussed.
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