"Wideband Suppression of Motion-Induced Vibration"

Input shaping techniques for suppressing vibration during motions have been
developed over the last twenty years.  This work applies signal-processing
techniques to the problem, and introduces Rate-limited Boxcar-Aliased IFIR
(RBAI) motion profiles.

RBAI motion profiles can suppress vibration over a very wide range of
frequencies; this property is shown in the transport of two example
mechanical systems.  The first system is  "comb" device with ten (10)
single pendula of different natural frequencies.  The second system is a
three-link articulated pendulum.

The contrast between a standard trapezoidal velocity profile and the RBAI
motion profile on these multi-modal systems is dramatic and very apparent
from the video.

