Zero time delay input shaping for smooth settling of industrial robots

Precise motion control is desired in a variety of industrial robot applications. In order to achieve precise and rapid rest-to-rest motion, the overshoot and the residual vibration should be minimized. In this paper, a modified input shaping approach is developed to address these problems. The time delay introduced by conventional input shaping technique is fully compensated in the proposed approach. Experiment result on an industrial robot has shown the effectiveness of the proposed approach.