VIBRATION REDUCTION IN FLEXIBLE SYSTEMS USING A TIME-VARYING IMPULSE SEQUENCE

An input shaping technique using a time-varying impulse sequence is pr esented to reduce the motion-induced vibration of flexible systems in a feedforward way. The decoupled modal responses for a general linear time-varying system are firstly approximated. Upon this approximation, the time-varying impulse sequences to suppress the vibrational modes are found. The reference inputs to the systems are shaped by convolvin g with the time-varying impulse sequence to suppress the multimode vib rations. This technique can be also applied to suppress the vibration of nonlinear time-varying systems. The performance of this method is d emonstrated with two practical examples: a moving overhead crane and a two-link robot manipulator. Consequently, this study provides an inpu t shaping technique applicable to the vibration suppression of broader classes of flexible systems.