Integrating input shaping technique with interpolator for vibration suppression

The input command shaping technique is integrated with computerized numerical control (CNC) interpolators to suppress structural vibration of machine tools. The algorithm is called integrating input-shaping interpolator (ISI) which applies the input shaping on the acceleration/deceleration stage before interpolation (ADBI) such that the command contour errors can be avoided. Theoretical derivation and experiments are conducted on an X-Y table. The effectiveness of the proposed technique has been validated and the vibration of the table could be reduced significantly with the proposed algorithm.