Ciao ragazzi,
è da un po' che pensavo di fare una vacanza di coppia in una casa sull'albero o case abbastanza isolate in zona lombarda (o vicina) ma le opzioni sembrano essere molto limitate/sponsorizzate da far schifo.
Ne conoscete qualcuna di interessante? Non molto interessati a SPA e altre robe simili e non è un problema una camminata per raggiungerle.
Grazie!
Hello there guys,
I have a question about an university project i'm currently finishing.
I'm working on this robot:
As you can see, i have a motor moving only in one direction. A mass at the end is behaving as a pendulum.
The goal of the project is to implement an input shaping method.
i DO NOT have data about the mass, just the motor.
For the input shaper, i need to have the damped frequency of the system.
My first idea is to just let it oscillate and calculate the Logarithmic decrement and obtain omega_d. With this method, i calculated a result of 3.8761 rad/s.
Just to be sure and have a model of the system, i've applied a chirp signal to the motor, calculated the frequency response and got the bode diagram:
I know the picture is small but the omega_d previously calculated is at the proximity of the anti-resonant frequency.
Can someone explain me why it is like that? i can confirm that is the correct damped frequency. The input shaper works but i want to have a physics explanation of what's happening.
Thank you in advance
