Trajectory generation or input shaping?

Input shaping can effectively reduce residual vibrations in flexible systems induced by the position trajectory. But misunderstanding of the implementation aspects and its use has led to limited applications in mechatronic systems, where the shaped reference trajectory could result in a reduced overall movement time. The main contribution of this article is a design method based on the relationship of the relative overshoot with the ratio of vibration time and move time. This allows the determination of the highest acceleration value that keeps accuracy within the desired range.