How can the input shaper be designed for use in 6-Dof robots, or to resist the effects of time-varying natural frequencies on robots?

11 April 2024 0 268 Report

1. When using the input shaper, it is necessary to design the natural frequency and damping ratio. How to solve this natural frequency and damping ratio for the time-varying robot dynamics model？

2. Input shaper is equivalent to filter, resulting in time lag, how to ensure that the robot trajectory does not distort, is there any other method?

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