Research on Vibration Suppression Algorithm Based on Continuous Input Shaping

The application fields of robots are becoming increasingly extensive. Due to the tendency of robotic arms and other flexible mechanisms to generate vibrations during movement, this paper focuses on the study of vibration suppression algorithms for these systems. Continuous Input Shaping (CIS) is proposed as a solution. By comparing CIS with existing Zero Vibration and Derivation (ZVD) and Extremely Insensitive (EI) input shaping schemes, unit step response and sensitivity curve analyses are conducted to verify the advantages of CIS. A motion platform was built for comprehensive software and hardware system development and testing. Experiments validated the effectiveness of the proposed vibration suppression method, and comparative tests with simulation results were conducted. Compared to traditional ZVD and EI input shaping, CIS demonstrates significant advantages.