Design and comparison of command shaping methods for controlling residual vibration

The authors evaluate a signal generation technique for commanding high-performance machines to move without exciting residual vibration. This time-domain input-shaping technique works like a filter that is designed to eliminate decaying sinusoidal resonance responses. It is compared to a variety of filtering techniques and is shown to perform more effectively than any of them. In particular, frequency-domain filter design techniques are less effective for shaping vibration-reducing inputs to systems. The three-impulse shaping sequence offers significant performance advantages in that moves require less time and result in little or no residual vibration. In addition, the response is not sensitive to variations in the system parameters