Effects of input shaping on two-dimensional trajectory following

  title={Effects of input shaping on two-dimensional trajectory following},
  author={William E. Singhose and Neil C. Singer},
  journal={IEEE Trans. Robotics and Automation},
Input shaping is a method of reducing residual vibrations in computer-controlled machines. Input shaping is implemiented by convolving the desired command signal with a sequence of impulses. The result of the convolution is then used to drive the system. Because input shaping alters the commanded trajectory, it has had questionable utility for trajectory following applications such as painting, cutting, and scanning. The effects of input shaping on trajectory following were investigated by… CONTINUE READING
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