Input Shaping for Motion Control

J.T. Wen and B. Potsaid (USA)



This paper gives an overview of input shaping methods for motion control. Input shaping is typically applied after a feedback controller has already been implemented. The commanded input into the system is selected so that the output can track a desired signal while satisfy the imposed constraints. We classify input shaping methods into four types: trajectory generation, inverse dynamics, resonance avoidance, and output matching. In the presence of con straints, we have found that the most promising approach is the output matching method, capable of almost achieving the minimum time performance.

Important Links:

Go Back