Input Preshaping Control of Flexible Gantry with Active Mass Damper

In this study, we describe optimization of high-speed vibration control transfer and suppression of residual vibration in a gantry loader. Society requires space saving, low cost, and high speed. Since there has been previous research on space saving, this time we will focus on low cost and high-speed transportation. Currently, the integrated control of AMD and the pre-shaping method can be reproduced by simulation. However, there are some problems in reproducing the simulation in reality. We will solve the problem and show the merits of using both AMD and pre-shaping methods. Ultimately, the goal is to realize integrated control of AMD and the pre-shaping method.