Using acausal shaping techniques to reduce robot vibration

A method for generating shaped command inputs which reduce endpoint vibration is presented. The technique applies to both open- and closed-loop systems. The Draper Laboratory´s Space Shuttle remote manipulator system nonlinear simulator is used to verify the substantial reduction of residual vibration. In addition, the shaped inputs have been designed to closely approximate the time-optimal input, therefore only a small move time penalty is incurred