Jerk Limited Input Shapers

Authors

Singh T.

Source

ASME Journal of Dynamic Systems, Measurement and Control, 126(1), 215-219, 2004.

Abstract

The focus of this paper is on the design of jerk limited input shapers (time-delay fiters). Closed form solutions for the jerk limited time- delay filter for undamped systems is derived followed by the formulation of the problem for damped systems. Since the jerk limited filter involves concatenating an integrator to a time-delay filter, a general filter design technique is proposed where smoothing of the shaped input can be achieved by concatenating transfer functions of first order, harmonic systems, etc.