Preshaped Input Commands Applied to Minimizing the Vibration of a Multiple-Modes System

A simple and effective method, for preshaping input commands, is proposed in this paper. It is applicable to the control of a flexible manipulator in both open-loop and closed-loop systems. The acting time, the vibration amplitude and the timing of the input function have been studied. In addition, the results of the method have been simulated which demonstrate that the vibration amplitude can be reduced greatly subject to the commands that are preshaped.