Suppression of residual vibration of a translating–swinging load by a flexible manipulator

This paper presents the use of a command shaping method to eliminate residual vibrations of single-input multi-mode flexible systems for point-to-point motion. A ramp-plus-ramped cycloid-plus-ramped versine is proposed as the command template signal to be shaped. The template function is reshaped using the system’s lowest natural frequency and damping ratio to yield almost zero residual vibration. The proposed method is then compared with the well known input shaping technique and its applicability is shown by experimental results. The results show that the proposed method is quite effective for fast point-to-point motion.