Using Two-mode Input Shaping to Repress the Residual Vibration of Cherry Pickers

A multi-body dynamics model of a cherry picker is presented in this paper. Simulation results indicate that the payload residual vibration of the cherry picker system is characterized by a two-mode vibration. After designing the two-mode ZV and EI input shapers for the cherry picker system, the two-mode ZV input shaping and the two-model EI input shaping are used to reduce the payload oscillation. The results show that the two-mode input shaping can suppress the system residual vibration significantly. The system responses to a step input under the two-mode ZV input shaping and the two-mode EI input shaping are compared and the results demonstrate that the two-mode EI input shaping can give smaller vibration, but has longer duration than the two-mode ZV input shaping.