Input shaping for nonlinear systems

Torque profiles that guarantee minimum residual vibration for point-to-point motions in a rigid-link flexible-joint manipulator have been developed using two different techniques: (1) the inverse dynamics formulation and, (2) an open-loop optimal approach. The torque profiles obtained by each technique are compared considering characteristics such as energy consumption, torque and trajectory profiles and sensitivity to parameter variations. Both methods produce torque profiles that achieve motion without residual vibration. The inverse dynamics formulation produces smoother link tip trajectories, while the optimal approach requires less input energy. Both methods are susceptible to parameter errors.