1. Generating Intelligent Commands to Control Mechatronic Devices William Singhose

2. What is Control? Getting the System to do What you Want

3. Add a Feedback Loop Response

4. Simple Control Systems

5. General Control System

6. Landmine Detecting Robot

8. Bridge Crane

9. Bridge Crane Problem (and solution)

10. Why is Vibration Cancelled?

11. Simple Derivation Constraints Vibration Amplitude Normalization Positive Impulses Time Optimality

12. Simple Derivation (V=0, 2 impulses)

13. Input Shaping Arbitrary Commands

15. Typical Responses

17. 10-Ton Industrial Bridge Crane 6mx5mx40m Interfaces: Pendent, Joystick, Touchscreen, Wireless Overhead Camera

18. Input Shaping and Feedback Control: Experimental Data Disturbance at EndDisturbance During Motion

19. Concurrent Design With Feedback Control

20. Current Design of PD Feedback And Command Shaping

21. Human Operator Studies

22. Human Operator Learning

23. UnshapedShaped

24. Portable Tower Crane 2mx2mx340 o Interfaces: Pendent, GUI, Internet GUI Overhead Camera Used by Researchers and Students in Atlanta, Japan, Korea

25. Tower Crane: System Overview Screen Interface

26. Other Applications Many types of cranes Disk drives Long reach robots Coordinate measuring machines Milling machines Spacecraft

27. Scale of Micro Meters (10 -6 m) High Spindle Speeds (120 kRPM) Application of Command Shaping to Micro Mills

29. Experimental Results Stage Tracking Error Part Surface

30. Coordinate Measuring Machines

31. Coordinate Measuring Machine (CMM) Deflection

32. Disk Drive Head Tester

33. Painting Robot

34. Space Robot

35. Spacecraft Control

36. MACE Space Shuttle Endeavor, 1995

37. MACE Space Shuttle Endeavor, 1995

38. Input Shaping with On-Off Actuators

39. How Can We Use Input Shaping on On/Off Actuators? Not On/Off

40. Flexible Satellites (Tokyo Institute of Technology)

41. Time Optimal Control (Special Input Shaper) Variables: 1) Impulse Times

42. Fuel-Efficient Input Shaping Time-Optimal Fuel-Efficient

43. Comparison of Maneuver Times

44. Comparison of Fuel Usage

45. Transient Deflection with On-Off Shaping Too Large?

46. Deflection Sampling

47. Simulation Results (Slew Distance = 5 units)

48. Slew Duration vs. Deflection Limit (Slew Distance = 5 units)

50. Endpoint Deflection

51. The Command Used to Drive a Machine is of Fundamental Importance Unwanted Motion can be Dangerous & Costly Oscillation Can Be Reduced Quickly and Easily by Command Shaping Command Shaping is the EASIEST Control Method Conclusions