Input Shaping for Point-to-Point Motion with a Continuum Robot Arm
A cable-driven continuum robot arm is prone to residual vibration at the end of rest-to-rest maneuvers. This work applies time-delay filters as input shapers—both non-robust and robust—to suppress vibratory modes. Experiments show significant reductions in overshoot and settling time, with the robust shaper further improving performance, marking progress toward precise control of continuum robots.
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[Submitted on 27 Jul 2026]
Title:Input Shaping for Point-to-Point Motion with a Continuum Robot Arm
View a PDF of the paper titled Input Shaping for Point-to-Point Motion with a Continuum Robot Arm, by Rodolfo Hdz. Ibarra and 4 other authors
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Abstract:A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2607.25071 [cs.RO]
(or arXiv:2607.25071v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.25071
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Adrian Stein [view email] [v1] Mon, 27 Jul 2026 21:05:32 UTC (6,600 KB)
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