SCI 2000 Orlando LIMITING HIGH MODE VIBRATION AND RISE TIME IN FLEXIBLE

Telerobotic arms with flexible dynamics can be challenging to operate. Deflections and oscillations can degrade system performance and make the system response unpredictable. This unplanned behavior can pose a safety hazard if the arms are operated aggressively or can decrease productivity if the operator is overly conservative to account for the complicated behavior. The vibration caused by the flexible dynamics can be reduced through the use of input shaping. The pric that is paid for this effect is a lag in the system response, which can make the system appear to start and stop slowly. Input shaping techniques that minimize this lag can result in amplification of high mode vibration. This paper demonstrates experimentally two input shaping methods that help reduce these problems. The first method controls the potential excitation of high modes and the second method reduces the apparent lag experienced by the operator