... n s + ω n 2 If one may not simulate the liquid sloshing caused by different trajectories, the recommended methods are input shaping and multisegment trajectories built with three FIR filters. The first one applied to a polynomial trajectory is particularly suggested when the main...

...-stage flexible joint discrete controller is presented, in which the decentralized approach is extended with a stiffness to take into account the dominant coupling mode. In the first-stage, an input shaping feedforward shapes the rigid closed-loop dynamics into desired dynamics that does not produce link...

...Chul-Goo Kang The robustness of residual vibration control, such as input shaping, has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping at the time of the final impulse. However, in that robustness evaluation, vibration...

...M. C. Pai; A. Sinha The input shaping technique has proven to be highly effective in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping depends on the amplitudes and instants of utilized impulses. However, systems...

...Khalid L. Sorensen; Aayush Daftari; William E. Singhose; Keith Hekman Input shaping is a filtering method used for reducing oscillation in flexible systems. A class of these filters, called negative input shapers, has been developed to improve system rise-time beyond what is achievable using...

...John Stergiopoulos; Anthony Tzes Input shaping is a technique that seeks to reduce residual vibrations of lightly damped systems through modification of the command input to the system. Although several input shaping techniques have been derived primarily from linear system theory, theoretical...

...Vikram Kapila; Anthony Tzes; Qiguo Yan Input shaping techniques reduce the residual vibration in flexible structures by convolving the command input with a sequence of impulses. The exact cancellation of the residual structural vibration via input shaping is dependent on the amplitudes...