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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
Outline Project Description and Justification Results Future Research Questions
Input Shaping Theory UM-ZV Shaper: ZV Shaper:
Problem Statement Current input shapers assume linear dynamics
Problem Statement Unequal Rise/Fall Times inhibit shaper effectiveness
Goal Characterize non-linear performance of current input shapers Evaluate new, robust input shaper
Modified UMZV Shaper
Comparison With No Shaping
Comparison with ZV Shaper
Comparison with UMZV Shaper
Future Work Retest modified UM-ZV shaper under exponential motor drive. Expand space to investigate faster rise and fall times.
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