Abstract:Abstract. Input shaping convolutes the reference signal with a sequence of impulses, whose amplitudes and timings are designed to produce a shaped reference that avoids exciting lightly-damped modes to reduce residual vibration from a quick movement. The input shaper can be made robust to uncertain mode parameters by adding more impulses, which delays the reference signal, resulting in longer move time. Instead of using more impulses, in this paper, a feedforward-feedback control system, based on the quantitat… Show more
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