Experimental Verification of Command Shaping Methods for Controlling Residual Vibration in Flexible Robots

This paper presents the results of experiments using a new technique for shaping inputs to systems that vibrate. The shaped inputs move the system to the same location that was originally commanded, however, the oscillations of the machine are considerably reduced. First, an overview of the new shaping method is presented. Next, a description of the experimental apparatus is given. Lastly, the results and sample data are presented. The results demonstrate that the new shaping method performs well on machines which exhibit significant structural vibration.