Input shaping is a method to reduce the motion-induced vibration in a flexible system. A kind of input shaping method (time-varying impulse shaping) has been proposed previously which is applicable to vibration reduction of time-varying systems. This paper presents experimental results of time-varying impulse shaping with a two-link flexible manipulator. The flexible manipulator has two revolute joints and moves on a vertical plane under gravity. A dynamic model was developed to provide a basis for the shaping, and the model was proved through some experiments. The reference trajectories commanded to the system are shaped by using the suggested time-varying impulse shaping. Implemented to the two-link flexible manipulator, test results demonstrate that the link vibration can be greatly suppressed during and after a point-to-point motion, and the residual vibration reduction was observed more than 90% with this shaping.

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