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Usage of input shaping for crane load oscillation reduction

Many various mechanical systems such as robotic arms, conveyer drives, multimass systems contain flexible joints. Because of described feature these objects are vulnerable for oscillations. To reduce its occurrence input shaping method might be used. The algorithm of input shaping is very simple to use, provides good effects and doesn't require the changes in control loop. The algorithm's work is presented on crane load oscillation reduction example, but might be used for every robotic tool, that is vulnerable for oscillations.