Reducing undesired vibrations is essential for the effective control of robotic manipulators.

This project implements the Input Shaping Technique for vibration reduction, as proposed by Singer and Seering. The method suppresses residual vibrations by reshaping the reference command, at the cost of an increased execution time.

A one-link flexible arm is considered, accounting for both linear and nonlinear vibration effects.

Case of linear vibrations:

Regulation task, baseline

Regulation task with input shaping

Case of nonlinear vibrations:

Regulation task, baseline

Regulation task with input shaping

Contributors:

Paola Carboni

Elisa Scandiuzzi

References:

[1] N. C. Singer and W. P. Seering. Preshaping Command Inputs to Reduce System Vibration. Journal of Dynamic Systems, Measurement, and Control, 112(1):76–82, 03 1990.

[2] Neil C. Singer. Residual vibration reduction in computer controlled machines. PhD thesis, MIT Artificial Intelligence Laboratory, 1988.