Input shaping for constant-velocity scanning with flexible sensors

During scanning operations there is often the need to maintain a constant velocity. If the system has flexibility, then vibration can corrupt the scanning. This paper investigates the use of input shaping to reduce vibrations in systems that perform constant-velocity scanning operations. Input shaping can greatly reduce vibration and improve the constant-velocity motion. However, input shaping causes the constant-velocity regions to be shifted away from the desired locations and increases the duration of the scanning cycle. A procedure is developed to eliminate the drawbacks of the input shaping process. As the robustness of the shaping process is increased, the scanning velocity must also be increased to hold the cycle time constant. Since low scanning velocities are often desired, an engineering trade-off arises between robustness and scanning velocity. A process is developed that explicitly balances this trade-off.