Abstract: To solve the problem of residual vibration of the joint actuated by pneumatic muscles under step input, input shaping method is introduced. Three methods to realize input shaping for the joint are analyzed, and experiments are carried. The experiment results showed that, choosing the delay time and the amplitude of the inputs properly can effectively reduce the residual vibration of the joint. The methods proposed are effective and can be realized easily.

Key words: Residual vibration, Input shaping, Pneumatic muscle