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Two-Impulse Sequence Input Shaper Design for Link Mechanisms With Nonlinearities

This work addresses some new trends in the design of two impulse shaper for command generation for flexible mechanical couplings with variable stiffness. It is shown that this nonlinearity degrades the performances of traditional shapers. However a good choice for the modeled frequency of the filter can counteract the detrimental effect of the variable stiffness. This work solves the choice of the assumed frequency for the non-linear flexible link by extracting it from the phase plane and compares the impulses response with others options for the modeled frequency by estimate of the variable elasticity effect into the Time Delay Filters vector diagram.