Title :
Effects of input shaping on two-dimensional trajectory following
Author :
Singhose, William E. ; Singer, Neil C.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fDate :
12/1/1996 12:00:00 AM
Abstract :
Input shaping is a method of reducing residual vibrations in computer-controlled machines. Input shaping is implemented by convolving the desired command signal with a sequence of impulses. The result of the convolution is then used to drive the system. Because input shaping alters the commanded trajectory, it has had questionable utility for trajectory following applications such as painting, cutting, and scanning. The effects of input shaping on trajectory following were investigated by simulating the response of a fourth-order system with orthogonal modes and conducting experiments on an XY positioning stage. For nearly all values of experimental parameters, input shaping improved trajectory following
Keywords :
convolution; damping; flexible structures; position control; tracking; two-term control; vibration control; 2D trajectory following; PD control; XY positioning; command signal; computer-controlled machines; convolution; damping; flexible structure; fourth-order system; impulse sequence; input shaping; orthogonal modes; residual vibration control; Application software; Computational modeling; Convolution; Damping; Equations; Frequency estimation; Painting; Robustness; Time factors; Vibrations;
Journal_Title :
Robotics and Automation, IEEE Transactions on
