Optimal filtering to minimize the elastic behavior in serial link manipulators

This paper presents a new optimal filtering algorithm, called the optimal arbitrary time-delay filter that has been designed to minimize the elastic behavior in serial link manipulators. However, the filtering algorithm can reduce the level of vibration in any system whose elastic motion can be modelled as a set of linear, ordinary differential equations with proportional damping. After analyzing some of the filter properties, experimental results demonstrate just how well the optimal filtering algorithm can minimize vibration.