Optimal input shaper design and application to high speed robotic workcells

Timothy Chang, Kedar Godbole, Edwin Hou

Research output: Contribution to journalConference articlepeer-review


This work addresses the design of optimal input shaper and its application to the motion control of a robotic workcell. An optimal shaper is proposed to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on a two-axis Adept Technology Robotic Workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Original languageEnglish (US)
Pages (from-to)280-291
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - 1998
EventProceedings of the 1998 Conference on Sensors and Controls for Intelligent Machining, Agile Manufacturing, and Mechatronics - Boston, MA, USA
Duration: Nov 4 1998Nov 5 1998

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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