Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm

This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of the robot by interpolating previously measured data of the robot's residual vibrations. Input shaping is a simple and robust technique to generate vibration-reduced shaped commands by a convolution of an impulse sequence with the desired input command. The generated impulses create waves in the material countering the natural vibrations of the system. The method is demonstrated with a flexible 3D-printed robot arm with multiple different materials, achieving a significant reduction in the residual vibrations.

@article{kotaniemi2025_2506.14405,
  title={ Data Driven Approach to Input Shaping for Vibration Suppression in a Flexible Robot Arm },
  author={ Jarkko Kotaniemi and Janne Saukkoriipi and Shuai Li and Markku Suomalainen },
  journal={arXiv preprint arXiv:2506.14405},
  year={ 2025 }
}