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arXiv · 2506.14405

Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm

Jarkko Kotaniemi·Janne Saukkoriipi·Shuai Li·Markku Suomalainen
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Abstract

This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of the robot by interpolating previously measured data of the robot's residual vibrations. Input shaping is a simple and robust technique to generate vibration-reduced shaped commands by a convolution of an impulse sequence with the desired input command. The generated impulses create waves in the material countering the natural vibrations of the system. The method is demonstrated with a flexible 3D-printed robot arm with multiple different materials, achieving a significant reduction in the residual vibrations.

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Jarkko Kotaniemi, Janne Saukkoriipi, Shuai Li, Markku Suomalainen. 2025-06-17. Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm. https://doi.org/10.1109/robosoft63089.2025.11020930

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