Input Shaping for Path Planning

Input shaping is an effective way to optimize the performance of robots, flexible structures, spacecraft, telescopes, and other systems that have vibration, control authority, tracking, and/or pointing constraints. These constraints along with the dynamics and kinematics of the system under consideration can be included in a trajectory optimization/path planning procedure to ensure that the system meets the desired performance. Input shaping is particularly useful when the closed-loop controller cannot be modified or tuned. For example, many pedestal-based robots have closed architecture control systems that restrict access to the servo-loop controls. This chapter begins with the overhead gantry robot and a vibration constraint referred to as swing-free input shaping.

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