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Initial investigations into the effects of input shaping on trajectory following

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2 Author(s)
Singhose, W. ; Convolve Inc., Armonk, NY, USA ; Singer, N.

The effects of input shaping on trajectory following were investigated by simulating the response of a fourth-order system with orthogonal modes and conducting experiments on an XY positioning stage. For nearly all values of damping and frequency ratio, the shaped inputs result in significantly better trajectory following than unshaped inputs. When the trajectory improvement techniques in this paper are used, the shaped inputs perform considerably better for all parameter values.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994