Reducing deviations from trajectory components with input shaping

Input shaping, a technique for reducing residual vibration, was evaluated for use with trajectory following applications. The performance of input shaping for trajectory following was investigated by simulating the response of a two-dimensional system with orthogonal modes. Due to the difficulty of predicting the response of a flexible system to an arbitrary trajectory command, the investigation is limited to the two most common trajectory components: corners and arcs. For a wide range of parameter values the shaped inputs result in better trajectory following than unshaped inputs. The improvements in trajectory following are shown to be robust to parameter uncertainty.