33rd Annual Meeting


Sunday – Friday, November 4 – November 9, 2018
Red Rock Casino • Resort • Spa
Las Vegas, Nevada, USA

Conference Chair:
Kate M. Medicus, Ruda Cardinal, Inc.

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Chinedum E. Okwudire (University of Michigan) and
Burak Sencer (Oregon State University)
Date and Time: TBA

There are many instances where manipulating motion commands through software modifications provides a much simpler, cost effective and practical option for reducing vibration compared to making hardware improvements to a machine. This tutorial will teach various techniques for reducing motion-induced vibration in precision machines via software means. Specifically, it will cover:

  • Motion smoothing techniques (e.g., using low pass filters, trajectory generators, etc.). We will compare and contrast various techniques. Additionally, we will provide guidelines for properly tuning various motion smoothing parameters that are available in commercial controllers. Many times, engineers simply select default parameters that come with a given machine, but better performance could be achieved by tuning parameters in an informed way.
  • Input shaping and notch filtering techniques: We will cover input shaping and notch filtering for vibration avoidance, and compare/contrast different input shapers and notch filters. We will also provide some examples of precision engineering applications where input shapers and notch filters can be used successfully. We explain how to use input shaping and notch filtering functionalities available in commercial controllers.
  • Advanced motion generation techniques: We will discuss various advanced motion generation techniques like filtered basis functions and frequency optimal spline interpolation, which overcome some of the shortcomings of motion smoothing, input shaping and notch filtering. We will also show some practical cases, e.g., desktop 3D printers ( and machine tools (, where advanced motion generation techniques have been used successfully.

The tutorial will have some theory but will mostly focus on practical aspects of motion command generation, re-enforced with examples and demonstrations on a motion stage.