A New Trajectory Optimizing Method Using Input Shaping Principles

<div>Final trajectory <svg height="11.9218pt" id="M108" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -8.7403 10.7679 11.9218" width="10.7679pt" 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,-0.0091,6.565,3.132)"><path d="M56 439L27 407L32 396H103V106C103 41 96 35 31 30V0H271V29C191 37 184 40 184 110V396H293C304 404 309 428 303 439H184V473C183 558 195 604 207 623S234 653 261 653C293 653 322 635 341 616C350 607 360 606 370 614C381 622 386 631 389 638C394 652 393 664 384 675C366 696 339 708 303 710C263 705 225 686 190 655C137 608 121 561 114 538S103 487 103 456V439H56Z" id="g58-100"></path></g></svg> obtained by R-ZVD and generated errors in each step: (a) acceleration profiles, (b) spectrum of acceleration profiles, and (c) residual errors generated in each step.</div>

Shock and Vibration

A New Trajectory Optimizing Method Using Input Shaping Principles

Figure 8