Input shaping control of a robot arm in different reference spaces

A robot controller for controlling a robotic arm, where the robotic arm comprises joints connecting a base of the robotic arm and a tool flange, and where at least one of the joints comprises an output flange that is movable relative to a body of a joint, the robotic arm comprising a motor configured to move the output flange relative to the body, the robot controller comprising:

• a shaping module configured to shape a target motion of the robotic arm;
• and
• a motor controller module configured to generate at least one motor control signal for the motor;
• wherein the shaping module comprises:
• a first space shaping module configured to produce a shaped first space target motion by convolving a first space target motion with an impulse train, where the first space target motion defines the target motion in a first reference space;
• and
• a second space shaping module configured to produce a shaped second space target motion by convolving a second space target motion with an impulse train, where the second space target motion defines the target motion in a second reference space;
• and
• wherein the motor controller module is configured to generate the at least one motor control signal based on both the shaped first space target motion and the shaped second space target motion.