Wide Band Suppression of Motion-Induced Vibration

Abstract

Motion profiles such as swing free and input shaping are intended to eliminate residual vibrations. This paper demonstrates a simple generalized method of creating and understanding pulse-based profiles, and presents an approach to suppress a wider band of induced vibration than previously attainable. The current approach of input shaping ignores the potential contributions the base profile and pulse shape can have on the profile. When examined from a signal processing point of view these pulse-based profiles can be thought of as sampled low pass filters. The sampling of the filter kernel defines the magnitude of the pulses, but as in any digital system it also produces aliasing. An interpolating filter can then be used to both remove the aliasing and to smooth and shape the base profile. This dual purpose of the interpolating filter allows the use of the swing free step input in conjunction with a rate-limit as a base profile. A generalized methodology is proposed which can create smooth motion profiles with continuous derivatives, while keeping the computational efficient of traditional input shaping. Experimental validation of two multi-DOF systems is shown.