• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.127-134
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• 2023

Recently, various input shapers have been introduced to reduce residual vibrations of flexible robots. However, there have been no studies on the design of an input shaper that can suppress residual vibration at an arbitrarily specified duration. In this paper, a novel input shaper called an SD (specified-duration) shaper is proposed for an undamped or underdamped system, which can suppress residual vibration at an arbitrarily given specified duration. If the specified duration is larger than a half period, a positive SD shaper composed of all positive impulses is designed, and if the specified duration is smaller than a half period, a negative SD shaper including a negative impulse is designed. As the specified duration is increased every half period after a half period, the number of impulses of the positive SD shaper is increased one by one, and the robustness of the SD shaper to modeling errors is increased. The performance of the SD shaper is analyzed through simulation studies for an undamped and underdamped second-order systems. The validity of the SD shapers is demonstrated experimentally using an experimental device that can generate container transport motions.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.47 no.11
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• pp.6-12
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• 2010

A sigma-delta modulator based class-D audio amplifier is presented. Parallel digital input is serialized to two-bit output by a fourth-order digital sigma-delta noise shaper. The output of the digital sigma-delta noise shaper is applied to a fourth-order analog sigma-delta modulator whose three-level output drives power switches. The pulse density modulated (PDM) output of the power switches is low-pass filtered by an LC-filter. The PDM output of the power switches is fed back to the input of the analog sigma-delta modulator. The first integrator of the analog sigma-delta modulator is a hybrid of continuous-time (CT) and switched-capacitor (SC) integrator. While the sampled input is applied to SC path, the continuous-time feedback signal is applied to CT path to suppress the noise of the PDM output. The class-D audio amplifier is fabricated in a standard $0.13-{\mu}m$ CMOS process and operates for the signal bandwidth from 100-Hz to 20-kHz. With 4-${\Omega}$ load, the maximum output power is 18.3-mW. The total harmonic distortion plus noise and dynamic range are 0.035-% and 80-dB, respectively. The modulator consumes 457-uW from 1.2-V power supply.