A New Trajectory Optimizing Method Using Input Shaping Principles

<div>Acceleration profile of <svg height="15.3797pt" id="M93" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -11.4361 11.6357 15.3797" width="11.6357pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M442 495C434 557 427 602 423 639C405 645 348 665 284 665C142 665 55 579 55 469C55 373 127 319 229 267C304 227 348 190 348 131C348 67 309 25 248 25C152 25 93 138 73 202L38 190C45 130 58 46 68 21C81 15 100 7 128 -1C158 -10 193 -15 229 -15C375 -15 472 74 472 188C472 287 400 343 295 394C207 439 171 470 171 525C171 583 212 624 268 624C349 624 387 550 407 487L442 495Z" id="g13-81"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,3.784)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path></g></svg> and its wavelet decomposition: (a) acceleration profile of <svg height="15.3797pt" id="M94" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -11.4361 11.6357 15.3797" width="11.6357pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M442 495C434 557 427 602 423 639C405 645 348 665 284 665C142 665 55 579 55 469C55 373 127 319 229 267C304 227 348 190 348 131C348 67 309 25 248 25C152 25 93 138 73 202L38 190C45 130 58 46 68 21C81 15 100 7 128 -1C158 -10 193 -15 229 -15C375 -15 472 74 472 188C472 287 400 343 295 394C207 439 171 470 171 525C171 583 212 624 268 624C349 624 387 550 407 487L442 495Z" id="g13-81"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,3.784)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path></g></svg> and (b) wavelet decomposition of acceleration profile of <svg height="15.3797pt" id="M95" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -11.4361 11.6357 15.3797" width="11.6357pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M442 495C434 557 427 602 423 639C405 645 348 665 284 665C142 665 55 579 55 469C55 373 127 319 229 267C304 227 348 190 348 131C348 67 309 25 248 25C152 25 93 138 73 202L38 190C45 130 58 46 68 21C81 15 100 7 128 -1C158 -10 193 -15 229 -15C375 -15 472 74 472 188C472 287 400 343 295 394C207 439 171 470 171 525C171 583 212 624 268 624C349 624 387 550 407 487L442 495Z" id="g13-81"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.565,3.784)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path></g></svg> in 2, 4, and 6 levels.</div>

Shock and Vibration

A New Trajectory Optimizing Method Using Input Shaping Principles

Figure 7