Input shaping algorithm using the s curve velocity command for gantry stage

This paper proposes modified input shaping algorithm to improve settling time of stage which is closely related with productivity in flat panel display. The modified input shaping uses the s curve velocity command to convolve with impulse, which is called s curve input shaping, while conventional input shaping uses the trapezoidal velocity command. Since the s curve velocity command is including the multi impulses, s curve input shaping algorithm has the similar effect with input shaping using the multi impulse. Thus, it is more effective to system having multi vibration mode than conventional input shaping. This paper uses the some constrain conditions to easily implement about the delay time and s curve time. Constrain conditions are obtained from primary test which is performed to search parameters to be able to obtain best performance. The performance of proposed algorithm is verified simulation and experiment. This algorithm shows that the settling time is effectively reduced by it than conventional input shaping algorithm.