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On the derivative constraints of input shaping control

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Abstract

Conventionally, derivative constraints have been added to the input shaper to increase robustness to modeling error in natural frequency and damping ratio, and the robustness of input shaping has been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping. However, the derivative constraints used for the ZVD shaper and the derivative of the ratio of residual vibration amplitude are mathematically confused in the previous literatures, even if the conceptual explanation for both derivatives therein is generally acceptable. In this paper, the relationship of the derivative constraints used for ZVD shaper and the zero derivative of the ratio of residual vibration amplitude are derived and clarified mathematically, and the relationship between them is demonstrated using an example.

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Authors and Affiliations

  1. School of Mechanical Engineering, Konkuk University, Seoul, 143-701, Korea

    Chul-Goo Kang

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  1. Chul-Goo Kang
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Correspondence to Chul-Goo Kang.

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This paper was recommended for publication in revised form by Editor Keum-Shik Hong

Chul-Goo Kang received B.S. and M.S. in Mechanical Design and Production Engineering from Seoul National University in 1981 and 1985, respectively. He received the Ph.D. in Mechanical Engineering from the University of California, Berkeley in 1989. Currently, he is a professor at Konkuk University (KU) in Seoul, Korea, and serves as Director of the Innovative Center for Engineering Education of KU, Director of the Future Robot Research Center of KU, a board member of the Institute of Control, Robotics and Systems, and also of Korea Robotics Society. His research interests include intelligent motion and force control, force sensor, train brakes, and intelligent robots.

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Kang, CG. On the derivative constraints of input shaping control. J Mech Sci Technol 25, 549–554 (2011). https://doi.org/10.1007/s12206-010-1205-7

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  • DOI: https://doi.org/10.1007/s12206-010-1205-7

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