Preshaping input trajectories of industrial robots for vibration suppression

Joonyoung Kim, Elizabeth A. Croft

Research output: Contribution to journalArticleResearchpeer-review

28 Citations (Scopus)


This paper presents several novel methods that improve the current input shaping techniques for vibration suppression for multi-degree of freedom industrial robots. Three different techniques, namely, the optimal S-curve trajectory, the robust zero-vibration shaper, and the dynamic zero-vibration shaper, are proposed. These methods can suppress multiple vibration modes of a flexible joint robot under a computed torque control based on a rigid model. The time delays for each method are quantified and compared. The optimal S-curve trajectory finds the maximum jerk to obtain the minimum vibration. The robust zero-vibration shaper can suppress multiple modes without an accurate model. The delay of the dynamic zero-vibration shaper is smaller than the existing input shaping techniques. Our analysis is verified both by simulation and experiment with a six degrees-of-freedom commercial industrial robot.

Original languageEnglish
Pages (from-to)35-44
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Publication statusPublished - 1 Dec 2018


  • Industrial robot
  • Motion control
  • Smooth trajectory

Cite this