Concurrent Design of Multimode Input Shapers and Link Dynamics for Flexible Manipulators

This paper proposes a concurrent design of a robust multimode input shaper and a modification of the link dynamics for flexible manipulators. The input shaper design takes advantage of this modification in reducing the time delay introduced while the residual vibration is kept under a prescribed level in the presence of significant parameter variations. An optimization procedure to tune the shaper coefficients concurrently, which are calculated simultaneously for all considered vibration modes, and the modification of the link dynamics, carried out by attaching small lumped masses along the link. Significant reductions in the time delay introduced by the proposed concurrent design are reported on an experimental single-link flexible manipulator.