Sensitivity Analysis of input shaping filter designed in the Z-domain

Z-영역에서 설계된 입력성형필터의 민감도 해석

  • Park, Un-Hwan (Dept.of Mechanical Engineering, Yeungnam University) ;
  • Lee, Jae-Won (Dept.of Mechanical Engineering, Yeungnam University) ;
  • Lim, Byoung-Duk (Dept.of Mechanical Engineering, Yeungnam University)
  • 박운환 (영남대학교 기계공학부) ;
  • 이재원 (영남대학교 기계공학부) ;
  • 임병덕 (영남대학교 기계공학부)
  • Published : 1999.11.01


To obtain high positioning auccuracy for a long, flex bleman Ipulator, residual vibration must be removed from the tip motion. But it is difficult to control the vibration of low frequency. There are open-loop and closed loop methods in the elimination of the residual vibration. We inroduce input shaping technique has been used as a simple open-loop method of controlling the residual vibration of a flexible manipulator. Design of input shaper in the continuous time domain is complicated. This paper presents a new technique that designs input shaper in the z-domain and analyzes input shaping method in the z-domain. This technique is simple and easy to design input shaper.


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