Engineering topics

Singer, Neil C.

Publications and source records attributed to Singer, Neil C..

2 records

NASA NTRS1992

An extension of command shaping methods for controlling residual vibration using frequency sampling

The authors present an extension to the impulse shaping technique for commanding machines to move with reduced residual vibration. The extension, called frequency sampling, is a method for generating constraints that are used to obtain shaping sequences which minimize residual vibration in systems such as robots whose resonant frequencies change during motion. The authors present a review of impulse shaping methods, a development of the proposed extension, and a comparison of results of tests conducted on a simple model of the space shuttle robot arm. Frequency shaping provides a method for minimizing the impulse sequence duration required to give the desired insensitivity.

Singer, Neil C.↗

NASA NTRS1989

Preshaping command inputs to reduce telerobotic system oscillations

The results of using a new technique for shaping inputs to a model of the space shuttle Remote Manipulator System (RMS) are presented. The shapes inputs move the system to the same location that was originally commanded, however, the oscillations of the machine are considerably reduced. An overview of the new shaping method is presented. A description of RMS model is provided. The problem of slow joint servo rates on the RMS is accommodated with an extension of the shaping method. The results and sample data are also presented for both joint and three-dimensional cartesian motions. The results demonstrate that the new shaping method performs well on large, telerobotic systems which exhibit significant structural vibration. The new method is shown to also result in considerable energy savings during operations of the RMS manipulator.

Singer, Neil C.↗