The Application of Input Shaping to a System With Varying Parameters
Magee, David P.
Book, Wayne John
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The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition gives better insight into the ability of input shaping method to reduce vibration. The extension of input shaping to a system with varying parameters, e.g. natural frequency, is discussed and the effect of these variations is shown to induce vibration. A modified command shaping technique is developed to eliminate this unwanted motion.