A multi-mode input shaper and PD compensator was designed for an Anorad Linear Stage for the ME 6404 class, Advanced Control Design and Implementation. The Linear Stage is a 1-D dynamic system that represents a pick-and-place manufacturing robot with a flexible end effector tip. By using a multi-mode input shaper, fast point-to-point motion was achieved with minimal relative tip deflection and virtually no residual vibration.

The video clip to the right illustrates the effects of input shaping.
(It should start automatically after this page loads)

For more information, see the lab report.
To see what happens when the stage is commanded to move outside its workspace, click here.