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

Volume

12

Issue

6

fYear

1996

fDate

12/1/1996 12:00:00 AM

Firstpage

881

Lastpage

887

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.544771

Filename

544771