Concurrent command and mechanical system design to limit transient and residual vibration

Many oscillatory systems undergo unwanted vibration during and after their maneuvers. In other words, for many applications, both residual and transient vibration need to be limited. Unwanted residual vibration can be suppressed by several control methods. One of these, called input shaping, is implemented by convolving a sequence of impulses with a desired reference command. However, basic implementations of input shaping only attempt to limit residual vibration, not transient. In this paper, a concurrent-design process is proposed that combines input shaping and the selection of physical system parameters to limit both transient and residual vibration, while minimizing move time. Solutions over a range of deflection limits show that as the deflection limit is decreased, the command duration increases. Furthermore, as the deflection limit decreases, the number of impulses needed increases. In addition, the impact of design choices of the limit on internal force and tolerable level of transient vibration during design process are presented.