Improvement of Computational Load in Initial Value Compensation with Additional Input

This paper presents a practical implementation for an initial value compensation (IVC) approach using additional input. The authors have already proposed the IVC approach to suppress residual vibrations at iterative positioning operations. The approach, however, has an essential subject that more state variables to be compensated require more complicated computation. In the paper, the improvement of computational complexity in the IVC approach is proposed, where the compensation calculation can be simplified by giving alternative inputs for initial values. The effectiveness of the proposed compensation has been verified by numerical simulations and experiments using prototype.