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Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence

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Outline Project Description and Justification Results Future Research Questions

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Input Shaping Theory UM-ZV Shaper: ZV Shaper:

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Problem Statement Current input shapers assume linear dynamics

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Problem Statement Unequal Rise/Fall Times inhibit shaper effectiveness

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Goal Characterize non-linear performance of current input shapers Evaluate new, robust input shaper

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No Shaping

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ZV Shaping

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UMZV Shaping

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Modified UMZV Shaper

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Comparison With No Shaping

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Comparison with ZV Shaper

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Comparison with UMZV Shaper

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Future Work Retest modified UM-ZV shaper under exponential motor drive. Expand space to investigate faster rise and fall times.

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Questions??

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