Input shaping with Coulomb friction compensation on a solder cell machine

Input shaping is combined with a proportional plus derivative controller to control a solder machine. Input shaping is applied to reduce the vibrations of three different modes of the system, including the mode from the controller. The results are further improved by including the effect of coulomb friction when designing the shaper. Experimental results verify the benefits of the coulomb friction-compensating input shaper over normal input shaping, S-curves and constant velocity commands.