Modified input shaping for a rotating single-link flexible manipulator

Input shaping is a feedforward approach and can be applied to suppress flexible vibration. In this paper, modified input shaping (MIS) is proposed for robustness and multimode vibration suppression. The theoretic analysis shows that the MIS poses better performance in several aspects than the traditional input-shaping technique. The controller that combines MIS with PD feedback law is designed for an experimental single-link flexible manipulator. Hardware experiments are conducted to verify the proposed method.