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Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence.

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Presentation on theme: "Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence."— Presentation transcript:

1 Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence

2 Outline Project Description and Justification Results Future Research Questions

3 Input Shaping Theory UM-ZV Shaper: ZV Shaper:

4 Problem Statement Current input shapers assume linear dynamics

5 Problem Statement Unequal Rise/Fall Times inhibit shaper effectiveness

6 Goal Characterize non-linear performance of current input shapers Evaluate new, robust input shaper

7 No Shaping

8 ZV Shaping

9 UMZV Shaping

10 Modified UMZV Shaper

11 Comparison With No Shaping

12 Comparison with ZV Shaper

13 Comparison with UMZV Shaper

14 Future Work Retest modified UM-ZV shaper under exponential motor drive. Expand space to investigate faster rise and fall times.

15 Questions??

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