The focus of this paper is on the design of jerk limited input shapers (time-delay filters). Closed form solutions for the jerk limited time-delay filter for undamped systems is derived followed by the formulation of the problem for damped systems. Since the jerk limited filter involves concatenating an integrator to a time-delay filter, a general filter design technique is proposed where smoothing of the shaped input can be achieved by concatenating transfer functions of first order, harmonic systems, etc.

Issue Section:
Technical Briefs
Keywords:
delays, damping, delay systems, delay filters, smoothing methods, transfer functions
Topics:
Delays, Filters, Transfer functions, Design
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