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Full-Text Articles in Mechanical Engineering
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Open Access Theses
Joint flexibility is a physical trait that affects all robotic systems to some degree. This characteristic has been shown to be very detrimental to the performance of these robotic systems when implementing fast point-to-point motion. During such motion, the robot will induce vibrations in its structure that will extend past the completion of the move. Many techniques have been applied over the years in order to minimize these residual vibrations. One such method is known as command shaping, which will construct the input profile so as to avoid exciting the natural frequencies of the system. This work seeks to extend …
Performance-On-Demand Mems (Podmems): Electrical Control Of Effective Mass, Damping, And Stiffness, Shehrin Sayed
Performance-On-Demand Mems (Podmems): Electrical Control Of Effective Mass, Damping, And Stiffness, Shehrin Sayed
Open Access Theses
We propose the use of electrostatic force feedback to control the stiffness, damping, or mass of MEMS. If feedback forces are proportional to sensed displacement, velocity, or acceleration of a MEMS proof mass, then feedback can be used to increase or decrease the apparent stiffness, damping, and or mass of the MEMS. Such feedback can be used to compensate for process variations, packaging stress, thermal drift, viscous damping, etc. Prior efforts by others include position or velocity based feedback for modifying frequency, bandwidth, quality factor, or sensitivity of resonators. We present a means of quantitative control of stiffness, damping, and …