Point-to-point motion commands that eliminate residual vibration

Several point-to-point motion commands are presented that eliminate residual vibration for a single degree-of-freedom mechanical system. Further, it is shown how any no residual vibration motion command of fixed duration can be converted into one of arbitrary duration. This approach can also be applied to a damped mechanical system. Illustration of no residual vibration is shown for the damped system. Comparisons are made between proposed point-to-point motion commands based on force, energy and power