High speed position control of a swinging load

This paper presents the control design and test results of the high speed position control of a spherical pendulum system. Altogether three oscillatory modes are considered: two swing modes and a torsion mode. A sequence of input shapers including the Zero Vibration and Zero Vibration-Derivative shapers are implemented in the robot controller to minimize command induced cable swing. Experiment data confirms that the proposed sequential input shaper method minimizes oscillations as well as settling times of the test trajectory execution.