An Improved Extra-Insensitive Input Shaper with feed-forward compensation for Servo Systems

For servo systems, industrial robots and other devices, elastic connection devices are often used. These devices will introduce vibration points, which exacerbates the vibration at the end of the load when the servo system is positioned. Therefore, it is important to suppress the vibration at the positioning end. Although the traditional EI (Extra-Insensitive) input shaper suppression algorithm is effective, it will cause the time lag and reduce the dynamic follow-up performance of the servo system. This paper proposes a feed-forward compensation algorithm to improve the traditional EI input shaper and shorten its time lag. Simulations confirmed the effectiveness of the algorithm.