Command shaping with constrained peak input acceleration to minimize residual vibration in a flexible-joint robot

Abstract

Residual vibrations in flexible-joint robots pose significant challenges to achieving precise and efficient motion control, especially in applications requiring rapid and accurate movements. This research explores a novel approach to vibration minimization through command shaping with constrained peak input acceleration. The proposed method designs input profiles that adhere to acceleration constraints while effectively reducing residual vibrations.

Cite as:

Adeoye Ibrahim, & Kayode Sheriffdeen. (2025). Command Shaping with Constrained Peak Input Acceleration to minimize Residual Vibration in a Flexible-Joint Robot. Recent Trends in Production Engineering, 8(1), 1–8. 

https://doi.org/10.5281/zenodo.14643380