Using acausal shaping techniques to reduce robot vibration

A method for generating shaped command inputs which reduce endpoint vibration is presented. The technique applies to both open- and closed-loop systems. The Draper Laboratory's Space Shuttle remote manipulator system nonlinear simulator is used to verify the substantial reduction of residual vibration. In addition, the shaped inputs have been designed to closely approximate the time-optimal input, therefore only a small move time penalty is incurred.<<ETX>>

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