Input shaping for feedforward control of a Flexible Polymethyl Methacrylate beam manipulator

摘要

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.