Vibration Reduction in Flexible Mechanism Using Input Shaping

Based on input shaping technique,the residual vibration reduction of flexible mechanism in point-to-point motion is studied.The Zero Vibration(ZV),Zero Vibration and Derivative(ZVD) and Extra Insensitivity(EI) shapers have been designed according to liner pendulum.Then,they are applied in liner pendulum system to suppress the residual vibration induced by point-to-point motion.Comparing the pole angles,it is found that ZV,ZVD and EI shapers can effectively reduce the residual vibration of liner pendulum.The result of experiment demonstrates that input shaping technique can reduce the residual vibrations in liner pendulum when the point-to-point motion stops.