Variable-Velocity Exponential Input Shaping for Position Controlled Robotic Systems

Abstract

This paper demonstrates a new form of Input Shaping for vibration reduction applied to robotic systems that manipulate flexible loads. The method is based on using an exponential function to define asymptotic and vibration-free trajectories for the flexible system. The required control input is calculated analytically by using inverse dynamics which ensures the desired end-effector trajectory. The method is demonstrated experimentally on the control of point-to-point movements of a robotic manipulator.