THE APPLICATION OF INPUT SHAPING TO WIRE-DRIVEN MECHANISMS

Abstract

Wire-driven mechanisms offer great potential for the advancement of large-area manipulations. Unfortunately, the natural flexibility of wires requires vibration control techniques to ensure safety and efficiency. Since most large-workspace manipulations require human operation and lack pre-determined motions, many typical vibration control techniques are not applicable. Fortunately, input shaping allows for real-time vibration suppression and has been experimentally verified in many different applications. This paper will show that input shaping can also significantly reduce vibration in wire-driven mechanisms.