Ole Balling

Generating Vibration Free Rest-to-Rest Trajectories for Configuration Dependent Dynamic Systems via 3-Segmented Input Shaping

This paper presents a new method to generate vibration free rest-to-rest (RTR) trajectories for configuration dependent dynamic systems, such as robots, cranes or machine tools. The new method named 3-Segmented Input Shaping is based on a combination of the widely known Input Shaping method and a ne…