Digital shaping filters for reducing machine vibration

Trajectory planning and feedforward design for electromechanical motion systems

“…However, it may also lead to a considerable increase in execution time of the trajectory, often without a clear mechanism for finding a time optimal solution. Various examples of this approach can be found in [3,6,7,8,12,5].…”

Control and analysis of a single-link flexible beam with experimental verification

“…As the value of n becomes larger, the less sensitive the system becomes to the lack of precise knowledge of the beam damping and resonant frequencies. This approach, which is formulated in the s domain, has similarities with the time domain approach proposed by Singhose et al (X90), and the interested reader can refer to Murphy and Watanabe (1992) for details. From a robustness perspective, it is sufficient to set the first derivative to zero for the one-link flexible manipulator.…”

New aspects of input shaping control to damp oscillations of a compliant force sensor

“…Where s(t) is the step response introduced in (16). For t ≥ t n−1 , the steady state is reached and the vibrations are eliminated.…”

“…This problem was solved in [15] by fixing the time between the impulses and changing only the magnitudes. Additionally, Murphy and Watanable discussed in [16] the design of an arbitrary rate digital shaping filter in the z-plane. Tuttle and Seering presented in [17] a systematic design tool to compute digital shapers using a discrete-time domain pole placement technique.…”