Abstract
Since the reduction gears of motors in robotic arms have rotational stiffness, residual rotational vibration occurs in robotic arms after the motor stops. The input shaping method is effective for suppression of residual vibration in machining tools. However, this method can be applied only to time-invariant system. Therefore, an improved method is proposed for suppression of residual vibration to time-variant systems. The effectiveness of the proposed method is verified through simulation.
