As another open-loop feedforward control, input shaping can generate a series of impulse signals to convolve the impulse and input signals, aiming at the elimination of the inherent vibration. This chapter presents the control design of input shaping, wherein the working principle and the typical input shapers are introduced. Consequently, a post adaptive input shaper is designed for the suppression of elastic deformations of flexible joints and end-effector vibrations of the parallel SCARA robot. A recursive least squares based algorithm is formed to update the shaper signals, which is able to be adaptive to the varying system parameters, in order to overcome the problems of flexible vibrations caused by the inaccurate models and varying modal parameters, and to improve the robustness of the controlled system. The numerical simulation and experimental implementation verifies the effectiveness of the designed input shaper.
Input Shaping Control
Parallel PnP Robots ; Chapter : 8 ; 147-170
2025-03-25
24 pages
Article/Chapter (Book)
Electronic Resource
English
Nonlinear Input Shaping Control of Flexible Spacecraft Reorientation Maneuver
Online Contents | 1998
|Adaptive Input Shaping Control for Slewing Flexible Space Structures
British Library Conference Proceedings | 2004
|