Inhibiting Multiple Mode Vibration in Controlled Flexible Systems

Space-borne and industrial robotic systems often utilize lightweight materials and configurations that give rise to vibration problems. Prior research has led to the development of input command pre-shapers that can significantly reduce residual vibration. These shapers exhibit marked insensitivity to errors in natural frequency estimates and can be used to minimize vibration at more than one frequency. This paper briefly outlines a method for the development of multiple mode input shapers, and examines the results of shaper performance tests conducted on linear and non-linear computer models of MACE, an MIT/NASA experimental flexible structure.