Figure 7
From: Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping

Acceleration of the end-effector along: (a) u axis, (b) v axis
From: Residual Vibration Reduction of High-Speed Pick-and-Place Parallel Robot Using Input Shaping
Acceleration of the end-effector along: (a) u axis, (b) v axis