Research on reducing residual vibration of trajectory glue based on pulse reshape filter

In order to realize the automation of sole glue working procedure, Auto-glue toe lasting machine is developed, but it is a high flexible machine and easy to produce residual vibration because of its structure. The existence of residual vibration degrades tracking precision and response speed of trajectory glue and influence the quality of trajectory glue and following procedure, this paper uses technology of pulse reshape filer in discrete domain, design and optimize input command reshaper against the system vibration mode, filter the input command and eliminate the residual vibration, improve system response. Experiment shows pulse reshape filter is effective against residual vibration caused by high flexible mode of auto-glue toe lasting machine.